[ { "PuKPg4mmafe.glb_cabinet": [ { "position": [ -16.0979, 0.47906, -0.93398 ], "radius": null, "object_id": 30, "object_name": "0_0_30", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "14c540221298447da11bf71477d7fbf1", "observable_viewpoint_ids": [ "14c540221298447da11bf71477d7fbf1", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "477dbfb712f242958420a83d490a70ed" ] }, { "position": [ -17.6641, 0.35487, -0.26724 ], "radius": null, "object_id": 29, "object_name": "0_0_29", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "477dbfb712f242958420a83d490a70ed", "observable_viewpoint_ids": [ "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "477dbfb712f242958420a83d490a70ed", "0_edge_31_newN_0", "0_edge_110_newN_0" ] }, { "all_observation_viewpoint_ids": [ "14c540221298447da11bf71477d7fbf1", "87870f8cba81492b8ef631196a2f6560", "a595e80625ce4c808cf713581ce1c0da", "477dbfb712f242958420a83d490a70ed", "0_edge_31_newN_0", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_110_newN_0" ] } ], "PuKPg4mmafe.glb_sofa": [ { "position": [ -14.4196, 0.46192, 8.49954 ], "radius": null, "object_id": 35, "object_name": "0_0_35", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "cb5f8c9a4a84477f99637276f00cfb2b", "observable_viewpoint_ids": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "position": [ -16.4278, 0.58777, 7.97424 ], "radius": null, "object_id": 49, "object_name": "0_0_49", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "cb5f8c9a4a84477f99637276f00cfb2b", "observable_viewpoint_ids": [ "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ] }, { "position": [ -13.8707, 0.47082, -4.26786 ], "radius": null, "object_id": 37, "object_name": "0_0_37", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_0_newN_1", "observable_viewpoint_ids": [ "0_edge_3_newN_2", "0_edge_3_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_0_newN_1", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "position": [ -9.57178, 0.48514, -6.13533 ], "radius": null, "object_id": 38, "object_name": "0_0_38", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_1_newN_0", "observable_viewpoint_ids": [ "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "d260eaeca5694719868f318ab468be27" ] }, { "position": [ -5.63898, 0.46516, -7.76895 ], "radius": null, "object_id": 40, "object_name": "0_0_40", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_47_newN_1", "observable_viewpoint_ids": [ "1611d119a70b46869c6e12117aa71972", "e26e187d102947e0a9a9bb050563e28d", "0_edge_47_newN_1", "0_edge_5_newN_2" ] }, { "position": [ -18.4833, 0.58735, 10.482 ], "radius": null, "object_id": 44, "object_name": "0_0_44", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_36_newN_2", "observable_viewpoint_ids": [ "0_edge_36_newN_2", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "c0a8647aead54f7295512181bac0440e", "cb5f8c9a4a84477f99637276f00cfb2b", "0_edge_36_newN_1" ] }, { "position": [ -22.0639, 0.59052, 6.97074 ], "radius": null, "object_id": 32, "object_name": "0_0_32", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_32_newN_1", "observable_viewpoint_ids": [ "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "0_edge_32_newN_2", "0_edge_32_newN_0", "0_edge_111_newN_2", "0_edge_32_newN_1" ] }, { "position": [ -2.1625, 0.51835, -9.29467 ], "radius": null, "object_id": 48, "object_name": "0_0_48", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "bb55c5f20f784105bae11a40f33cf7d9", "observable_viewpoint_ids": [ "bb55c5f20f784105bae11a40f33cf7d9", "e26e187d102947e0a9a9bb050563e28d", "10_edge_158_newN_0", "0_edge_151_newN_0" ] }, { "all_observation_viewpoint_ids": [ "0_edge_36_newN_2", "2f366c82ffe246d9a3cc6d8bcca862d4", "e26e187d102947e0a9a9bb050563e28d", "0_edge_3_newN_1", "0_edge_47_newN_1", "0_edge_32_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_0_newN_1", "0_edge_32_newN_0", "0_edge_111_newN_2", "0_edge_36_newN_1", "0_edge_98_newN_1", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_3_newN_2", "0_edge_98_newN_3", "deb943d89d2a44ce8850edec3c7308f9", "0_edge_5_newN_2", "0_edge_1_newN_0", "c0a8647aead54f7295512181bac0440e", "cb5f8c9a4a84477f99637276f00cfb2b", "0_edge_28_newN_0", "10_edge_158_newN_0", "0_edge_151_newN_0", "1611d119a70b46869c6e12117aa71972", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_32_newN_2", "2ad491d5db914f9689bfec52a694dd18", "35e62dc086ba4cd598a30fd3ec926a18" ] } ], "PuKPg4mmafe.glb_chair": [ { "position": [ 3.4427, 0.56595, 41.1628 ], "radius": null, "object_id": 170, "object_name": "0_4_170", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_59_newN_1", "observable_viewpoint_ids": [ "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669" ] }, { "position": [ 3.16552, 0.61453, 41.9631 ], "radius": null, "object_id": 156, "object_name": "0_4_156", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_59_newN_1", "observable_viewpoint_ids": [ "0_edge_59_newN_1", "0_edge_59_newN_0", "544ccad03803403c97721228e7cc9669" ] }, { "position": [ 2.65884, 0.5705, 41.6389 ], "radius": null, "object_id": 139, "object_name": "0_4_139", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_59_newN_0", "observable_viewpoint_ids": [ "0_edge_87_newN_1", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_0" ] }, { "position": [ 2.47783, 0.57287, 41.1861 ], "radius": null, "object_id": 130, "object_name": "0_4_130", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_59_newN_0", "observable_viewpoint_ids": [ "0_edge_59_newN_1", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0" ] }, { "position": [ 2.78441, 0.54982, 43.4832 ], "radius": null, "object_id": 129, "object_name": "0_4_129", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_87_newN_1", "observable_viewpoint_ids": [ "63b2f39fcc844216ada0b28c0873ae61", "0_edge_87_newN_1", "0_edge_73_newN_0", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606", "0_edge_59_newN_0" ] }, { "position": [ 2.19147, 0.58181, 43.4343 ], "radius": null, "object_id": 176, "object_name": "0_4_176", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_87_newN_1", "observable_viewpoint_ids": [ "63b2f39fcc844216ada0b28c0873ae61", "0_edge_87_newN_1", "0_edge_73_newN_0", "0_edge_59_newN_1", "a3e731b8c53346cbad60c56777279606", "0_edge_59_newN_0" ] }, { "position": [ 3.26802, 0.56636, 44.0519 ], "radius": null, "object_id": 158, "object_name": "0_4_158", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a3e731b8c53346cbad60c56777279606", "observable_viewpoint_ids": [ "0_edge_87_newN_1", "0_edge_73_newN_0", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_59_newN_0" ] }, { "position": [ -5.21422, 0.47349, 10.3082 ], "radius": null, "object_id": 62, "object_name": "0_1_62", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "3875b9ad36924b869985fed0412bc926", "observable_viewpoint_ids": [ "3875b9ad36924b869985fed0412bc926" ] }, { "position": [ 2.47141, 0.58936, 44.0588 ], "radius": null, "object_id": 173, "object_name": "0_4_173", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_73_newN_0", "observable_viewpoint_ids": [ "0_edge_87_newN_1", "0_edge_73_newN_0", "0_edge_59_newN_1", "a3e731b8c53346cbad60c56777279606", "0_edge_59_newN_0" ] }, { "position": [ 0.69436, 0.5687, 43.6025 ], "radius": null, "object_id": 147, "object_name": "0_4_147", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "63b2f39fcc844216ada0b28c0873ae61", "observable_viewpoint_ids": [ "0_edge_87_newN_1", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "255f67f42d6447d0996f35abb4a445a9", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_59_newN_0" ] }, { "position": [ 0.28416, 0.58977, 41.9632 ], "radius": null, "object_id": 161, "object_name": "0_4_161", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "255f67f42d6447d0996f35abb4a445a9", "observable_viewpoint_ids": [ "63b2f39fcc844216ada0b28c0873ae61", "255f67f42d6447d0996f35abb4a445a9", "0_edge_59_newN_0" ] }, { "position": [ -0.59715, 0.56217, 44.3135 ], "radius": null, "object_id": 154, "object_name": "0_4_154", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_74_newN_1", "observable_viewpoint_ids": [ "0_edge_87_newN_1", "63b2f39fcc844216ada0b28c0873ae61", "2e1d19c78bc74e1cb4a13927c3050e14", "255f67f42d6447d0996f35abb4a445a9", "0_edge_73_newN_0", "0_edge_144_newN_1", "a369445bc9e0429a868d5dc11e365f05", "0_edge_87_newN_2", "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_74_newN_1", "0_edge_59_newN_0" ] }, { "position": [ -0.05864, 0.57732, 41.2541 ], "radius": null, "object_id": 162, "object_name": "0_4_162", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "255f67f42d6447d0996f35abb4a445a9", "observable_viewpoint_ids": [ "255f67f42d6447d0996f35abb4a445a9", "63b2f39fcc844216ada0b28c0873ae61", "fe3bfd1d61ec4682991ac250f0791ae1", "0_edge_59_newN_0" ] }, { "position": [ 0.25442, 0.59523, 41.1911 ], "radius": null, "object_id": 152, "object_name": "0_4_152", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "255f67f42d6447d0996f35abb4a445a9", "observable_viewpoint_ids": [ "63b2f39fcc844216ada0b28c0873ae61", "fe3bfd1d61ec4682991ac250f0791ae1", "255f67f42d6447d0996f35abb4a445a9", "0_edge_59_newN_0" ] }, { "position": [ 0.42582, 0.62279, 44.3178 ], "radius": null, "object_id": 174, "object_name": "0_4_174", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_87_newN_2", "observable_viewpoint_ids": [ "0_edge_87_newN_1", "0_edge_73_newN_0", "2e1d19c78bc74e1cb4a13927c3050e14", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_87_newN_2", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_74_newN_1" ] }, { "position": [ 7.85715, 0.84603, 46.0003 ], "radius": null, "object_id": 250, "object_name": "0_5_250", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_84_newN_4", "observable_viewpoint_ids": [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4" ] }, { "position": [ 2.08519, 0.5674, 45.9242 ], "radius": null, "object_id": 163, "object_name": "0_4_163", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a3e731b8c53346cbad60c56777279606", "observable_viewpoint_ids": [ "0_edge_73_newN_0", "0_edge_87_newN_2", "aa3049db9ce543e0bb9456793ad1ea2e", "a3e731b8c53346cbad60c56777279606" ] }, { "position": [ 3.11765, 0.60369, 46.7249 ], "radius": null, "object_id": 171, "object_name": "0_4_171", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a3e731b8c53346cbad60c56777279606", "observable_viewpoint_ids": [ "aa3049db9ce543e0bb9456793ad1ea2e", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849" ] }, { "position": [ -0.15109, 0.57088, 43.9566 ], "radius": null, "object_id": 157, "object_name": "0_4_157", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_87_newN_2", "observable_viewpoint_ids": [ "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "2e1d19c78bc74e1cb4a13927c3050e14", "255f67f42d6447d0996f35abb4a445a9", "0_edge_87_newN_1", "0_edge_87_newN_2", "0_edge_74_newN_1" ] }, { "position": [ -1.6816, 0.55207, 41.9917 ], "radius": null, "object_id": 160, "object_name": "0_4_160", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "fe3bfd1d61ec4682991ac250f0791ae1", "observable_viewpoint_ids": [ "63b2f39fcc844216ada0b28c0873ae61", "fe3bfd1d61ec4682991ac250f0791ae1", "255f67f42d6447d0996f35abb4a445a9", "0_edge_148_newN_0", "0_edge_148_newN_2" ] }, { "position": [ 1.41997, 0.62791, 45.3279 ], "radius": null, "object_id": 167, "object_name": "0_4_167", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_73_newN_0", "observable_viewpoint_ids": [ "0_edge_73_newN_0", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "aa3049db9ce543e0bb9456793ad1ea2e", "a3e731b8c53346cbad60c56777279606" ] }, { "position": [ 2.40364, 0.56124, 46.8782 ], "radius": null, "object_id": 127, "object_name": "0_4_127", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a3e731b8c53346cbad60c56777279606", "observable_viewpoint_ids": [ "aa3049db9ce543e0bb9456793ad1ea2e", "a3e731b8c53346cbad60c56777279606" ] }, { "position": [ 9.07276, 0.72036, 46.2944 ], "radius": null, "object_id": 205, "object_name": "0_5_205", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_84_newN_4", "observable_viewpoint_ids": [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4" ] }, { "position": [ 8.21909, 0.8794, 41.1746 ], "radius": null, "object_id": 262, "object_name": "0_5_262", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "observable_viewpoint_ids": [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "6b06f294636f4fcd9bddeb75cda61c6d", "544ccad03803403c97721228e7cc9669" ] }, { "position": [ 7.6253, 0.86406, 41.1662 ], "radius": null, "object_id": 186, "object_name": "0_5_186", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "544ccad03803403c97721228e7cc9669", "observable_viewpoint_ids": [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "6b06f294636f4fcd9bddeb75cda61c6d", "544ccad03803403c97721228e7cc9669" ] }, { "position": [ 1.30428, 0.57186, 45.9295 ], "radius": null, "object_id": 172, "object_name": "0_4_172", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "aa3049db9ce543e0bb9456793ad1ea2e", "observable_viewpoint_ids": [ "0_edge_73_newN_0", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "aa3049db9ce543e0bb9456793ad1ea2e", "a3e731b8c53346cbad60c56777279606" ] }, { "position": [ 8.72831, 0.88316, 41.0929 ], "radius": null, "object_id": 286, "object_name": "0_5_286", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "observable_viewpoint_ids": [ "6b06f294636f4fcd9bddeb75cda61c6d", "544ccad03803403c97721228e7cc9669" ] }, { "position": [ -1.12267, 0.61323, 43.2368 ], "radius": null, "object_id": 124, "object_name": "0_4_124", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "255f67f42d6447d0996f35abb4a445a9", "observable_viewpoint_ids": [ "2e1d19c78bc74e1cb4a13927c3050e14", "255f67f42d6447d0996f35abb4a445a9", "fe3bfd1d61ec4682991ac250f0791ae1", "0_edge_148_newN_0", "0_edge_148_newN_2", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_74_newN_1" ] }, { "position": [ 9.3329, 0.88319, 41.089 ], "radius": null, "object_id": 226, "object_name": "0_5_226", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "observable_viewpoint_ids": [ "6b06f294636f4fcd9bddeb75cda61c6d" ] }, { "position": [ 3.19166, 0.58263, 47.72 ], "radius": null, "object_id": 177, "object_name": "0_4_177", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a3e731b8c53346cbad60c56777279606", "observable_viewpoint_ids": [ "aa3049db9ce543e0bb9456793ad1ea2e", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849" ] }, { "position": [ 10.023, 0.7345, 46.0821 ], "radius": null, "object_id": 287, "object_name": "0_5_287", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_84_newN_4", "observable_viewpoint_ids": [ "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64" ] }, { "position": [ -1.68588, 0.55899, 42.809 ], "radius": null, "object_id": 141, "object_name": "0_4_141", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_148_newN_2", "observable_viewpoint_ids": [ "0_edge_148_newN_1", "fe3bfd1d61ec4682991ac250f0791ae1", "255f67f42d6447d0996f35abb4a445a9", "0_edge_148_newN_0", "0_edge_148_newN_2", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_74_newN_1" ] }, { "position": [ 2.13019, 0.66104, 47.5074 ], "radius": null, "object_id": 143, "object_name": "0_4_143", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "aa3049db9ce543e0bb9456793ad1ea2e", "observable_viewpoint_ids": [ "aa3049db9ce543e0bb9456793ad1ea2e", "a3e731b8c53346cbad60c56777279606" ] }, { "position": [ 10.4464, 0.74519, 45.49549 ], "radius": null, "object_id": 306, "object_name": "0_5_306", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_84_newN_4", "observable_viewpoint_ids": [ "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64" ] }, { "position": [ 9.90836, 0.85801, 41.0623 ], "radius": null, "object_id": 297, "object_name": "0_5_297", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "observable_viewpoint_ids": [ "6b06f294636f4fcd9bddeb75cda61c6d" ] }, { "position": [ -2.03744, 0.59422, 43.0938 ], "radius": null, "object_id": 140, "object_name": "0_4_140", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_148_newN_1", "observable_viewpoint_ids": [ "255f67f42d6447d0996f35abb4a445a9", "fe3bfd1d61ec4682991ac250f0791ae1", "0_edge_148_newN_0", "0_edge_148_newN_2", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_74_newN_1" ] }, { "position": [ 10.0338, 0.75006, 46.81639 ], "radius": null, "object_id": 267, "object_name": "0_5_267", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", "observable_viewpoint_ids": [ "7b7943b56b9a4febae48c82f6e3f507d", "0_edge_84_newN_4" ] }, { "position": [ 10.5195, 0.86277, 41.0914 ], "radius": null, "object_id": 246, "object_name": "0_5_246", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "observable_viewpoint_ids": [ "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d" ] }, { "position": [ -1.89984, 0.63548, 43.6443 ], "radius": null, "object_id": 149, "object_name": "0_4_149", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_148_newN_0", "observable_viewpoint_ids": [ "255f67f42d6447d0996f35abb4a445a9", "fe3bfd1d61ec4682991ac250f0791ae1", "0_edge_74_newN_1", "0_edge_148_newN_0", "0_edge_148_newN_2", "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_148_newN_1" ] }, { "position": [ 11.2872, 0.75426, 45.3561 ], "radius": null, "object_id": 276, "object_name": "0_5_276", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5fb68178835247328ebd444ea4207d64", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64" ] }, { "position": [ 11.6134, 0.75466, 45.6202 ], "radius": null, "object_id": 263, "object_name": "0_5_263", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5fb68178835247328ebd444ea4207d64", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "0_edge_84_newN_4", "5f2a3396b86045d5bc7f283d1e48d8fd", "5fb68178835247328ebd444ea4207d64" ] }, { "position": [ -1.20958, 0.6543, 45.7548 ], "radius": null, "object_id": 164, "object_name": "0_4_164", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "2e1d19c78bc74e1cb4a13927c3050e14", "observable_viewpoint_ids": [ "2e1d19c78bc74e1cb4a13927c3050e14", "a369445bc9e0429a868d5dc11e365f05", "0_edge_87_newN_2", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_74_newN_1" ] }, { "position": [ 11.0036, 0.88374, 41.0591 ], "radius": null, "object_id": 235, "object_name": "0_5_235", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "observable_viewpoint_ids": [ "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64" ] }, { "position": [ -1.96076, 0.58532, 45.4086 ], "radius": null, "object_id": 137, "object_name": "0_4_137", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_144_newN_0", "observable_viewpoint_ids": [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_144_newN_1", "a369445bc9e0429a868d5dc11e365f05", "0_edge_148_newN_0", "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_74_newN_1" ] }, { "position": [ -1.04865, 0.58849, 47.1119 ], "radius": null, "object_id": 134, "object_name": "0_4_134", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a369445bc9e0429a868d5dc11e365f05", "observable_viewpoint_ids": [ "a369445bc9e0429a868d5dc11e365f05", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14" ] }, { "position": [ -1.69132, 0.46379, 46.07619 ], "radius": null, "object_id": 136, "object_name": "0_4_136", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a369445bc9e0429a868d5dc11e365f05", "observable_viewpoint_ids": [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_144_newN_1", "a369445bc9e0429a868d5dc11e365f05", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_144_newN_0" ] }, { "position": [ -2.22693, 0.58039, 45.8021 ], "radius": null, "object_id": 148, "object_name": "0_4_148", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_144_newN_1", "observable_viewpoint_ids": [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_144_newN_1", "a369445bc9e0429a868d5dc11e365f05", "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_74_newN_1" ] }, { "position": [ 13.0858, 0.76704, 45.9616 ], "radius": null, "object_id": 291, "object_name": "0_5_291", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "5f2a3396b86045d5bc7f283d1e48d8fd", "5fb68178835247328ebd444ea4207d64" ] }, { "position": [ 13.8438, 0.75444, 45.5537 ], "radius": null, "object_id": 278, "object_name": "0_5_278", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64" ] }, { "position": [ 11.979, 0.74372, 46.6843 ], "radius": null, "object_id": 252, "object_name": "0_5_252", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "89fc715c56814d59aaf7eaa522fe199a", "dbfc751a205b487382c667588623d464", "5fb68178835247328ebd444ea4207d64" ] }, { "position": [ 14.5227, 0.6841, 45.71811 ], "radius": null, "object_id": 264, "object_name": "0_5_264", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a" ] }, { "position": [ -10.1022, 0.59302, 8.00709 ], "radius": null, "object_id": 89, "object_name": "0_2_89", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", "observable_viewpoint_ids": [ "3a5f7c6c250e4d56b96ff967489de836" ] }, { "position": [ 15.2301, 0.79917, 43.189 ], "radius": null, "object_id": 308, "object_name": "0_5_308", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "122154d283494710ae5e592fc99bf8e1" ] }, { "position": [ 15.2314, 0.74214, 43.8685 ], "radius": null, "object_id": 253, "object_name": "0_5_253", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "122154d283494710ae5e592fc99bf8e1" ] }, { "position": [ 15.2511, 0.75321, 42.6316 ], "radius": null, "object_id": 213, "object_name": "0_5_213", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "122154d283494710ae5e592fc99bf8e1", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "122154d283494710ae5e592fc99bf8e1" ] }, { "position": [ 15.2907, 0.894, 44.1329 ], "radius": null, "object_id": 288, "object_name": "0_5_288", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "122154d283494710ae5e592fc99bf8e1" ] }, { "position": [ 15.2273, 0.86459, 41.7795 ], "radius": null, "object_id": 200, "object_name": "0_5_200", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "122154d283494710ae5e592fc99bf8e1", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "122154d283494710ae5e592fc99bf8e1" ] }, { "position": [ 15.2402, 0.826, 41.23989 ], "radius": null, "object_id": 214, "object_name": "0_5_214", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "122154d283494710ae5e592fc99bf8e1", "observable_viewpoint_ids": [ "122154d283494710ae5e592fc99bf8e1" ] }, { "position": [ 14.9576, 0.85565, 46.5206 ], "radius": null, "object_id": 247, "object_name": "0_5_247", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "dbfc751a205b487382c667588623d464" ] }, { "position": [ -8.34736, 0.553, -0.39507 ], "radius": null, "object_id": 46, "object_name": "0_0_46", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_11_newN_0", "observable_viewpoint_ids": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "0_edge_11_newN_0", "7a87d776b160483a95fc4f7cdffe0432" ] }, { "position": [ 14.8341, 0.82883, 47.18439 ], "radius": null, "object_id": 209, "object_name": "0_5_209", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "89fc715c56814d59aaf7eaa522fe199a", "dbfc751a205b487382c667588623d464" ] }, { "position": [ -10.9152, 0.64899, -2.34432 ], "radius": null, "object_id": 52, "object_name": "0_0_52", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_2_newN_1", "observable_viewpoint_ids": [ "87870f8cba81492b8ef631196a2f6560", "0_edge_2_newN_1", "0_edge_3_newN_0", "0_edge_3_newN_1", "a9db6e3e630f4490b8aaedc387b3adad" ] }, { "position": [ -2.2958, 0.67291, -5.75629 ], "radius": null, "object_id": 55, "object_name": "0_0_55", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "63ac2b2ef1e0457385976d17655da263", "observable_viewpoint_ids": [ "5fb26cecda204c40ae520fbda21ce82e", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2" ] }, { "position": [ -11.6341, 0.61544, -3.97303 ], "radius": null, "object_id": 45, "object_name": "0_0_45", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_3_newN_2", "observable_viewpoint_ids": [ "0_edge_3_newN_2", "0_edge_2_newN_1", "0_edge_3_newN_0", "0_edge_3_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_0_newN_1" ] }, { "position": [ -6.5345, 0.45474, -5.87353 ], "radius": null, "object_id": 39, "object_name": "0_0_39", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_5_newN_2", "observable_viewpoint_ids": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "0_edge_5_newN_2", "daa0aa844488426a9174a7051698a417" ] }, { "position": [ -18.9982, 0.53997, 5.69113 ], "radius": null, "object_id": 33, "object_name": "0_0_33", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c0a8647aead54f7295512181bac0440e", "observable_viewpoint_ids": [ "deb943d89d2a44ce8850edec3c7308f9", "0_edge_136_newN_2", "a595e80625ce4c808cf713581ce1c0da", "0_edge_28_newN_0", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "c0a8647aead54f7295512181bac0440e" ] }, { "position": [ -18.885, 0.54767, 6.00974 ], "radius": null, "object_id": 34, "object_name": "0_0_34", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c0a8647aead54f7295512181bac0440e", "observable_viewpoint_ids": [ "deb943d89d2a44ce8850edec3c7308f9", "0_edge_28_newN_0", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "c0a8647aead54f7295512181bac0440e" ] }, { "position": [ -3.79642, 0.46595, -6.9212 ], "radius": null, "object_id": 41, "object_name": "0_0_41", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_47_newN_0", "observable_viewpoint_ids": [ "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417" ] }, { "position": [ -0.48763, 0.62144, -8.40176 ], "radius": null, "object_id": 42, "object_name": "0_0_42", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_130_newN_1", "observable_viewpoint_ids": [ "10_edge_158_newN_0", "0_edge_130_newN_1", "0_edge_151_newN_0", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "0_edge_151_newN_1" ] }, { "position": [ -1.69191, 0.504, 5.53 ], "radius": null, "object_id": 114, "object_name": "0_3_114", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "97199ffe16bc45d0acb64341501e467e", "observable_viewpoint_ids": [ "ee62dcd77a3446028da94a7b93a2afe7", "37f62db110c94798b2eec3c180d2fa39" ] }, { "position": [ 9.1433, 0.78707, 54.51649 ], "radius": null, "object_id": 179, "object_name": "0_5_179", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", "observable_viewpoint_ids": [ "5e54afb639e8489282ebf3ac01821cc7", "434eafc01e8e4a32beeeddba478776bf", "6488e19b0c5249eabb792c2bbebf8137" ] }, { "position": [ 7.7953, 0.80006, 52.7343 ], "radius": null, "object_id": 183, "object_name": "0_5_183", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", "observable_viewpoint_ids": [ "5e54afb639e8489282ebf3ac01821cc7", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 10.362, 0.69977, 48.876 ], "radius": null, "object_id": 184, "object_name": "0_5_184", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd" ] }, { "position": [ 9.09772, 0.77497, 55.9557 ], "radius": null, "object_id": 190, "object_name": "0_5_190", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6488e19b0c5249eabb792c2bbebf8137", "observable_viewpoint_ids": [ "6488e19b0c5249eabb792c2bbebf8137", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 11.3388, 0.73843, 50.1316 ], "radius": null, "object_id": 191, "object_name": "0_5_191", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", "observable_viewpoint_ids": [ "dbfc751a205b487382c667588623d464", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 10.5145, 0.73388, 51.4166 ], "radius": null, "object_id": 197, "object_name": "0_5_197", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", "observable_viewpoint_ids": [ "dbfc751a205b487382c667588623d464", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 14.1885, 0.7772, 56.0898 ], "radius": null, "object_id": 198, "object_name": "0_5_198", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a31586a01b5947c89f02d9fa852b0d97", "observable_viewpoint_ids": [ "a31586a01b5947c89f02d9fa852b0d97", "0_edge_90_newN_1" ] }, { "position": [ 9.26476, 0.73471, 52.7075 ], "radius": null, "object_id": 201, "object_name": "0_5_201", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", "observable_viewpoint_ids": [ "5e54afb639e8489282ebf3ac01821cc7", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 12.3931, 0.74051, 51.817 ], "radius": null, "object_id": 203, "object_name": "0_5_203", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "dbfc751a205b487382c667588623d464", "c8225c23e023472188041a93756df582", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 10.6384, 0.76555, 47.3681 ], "radius": null, "object_id": 204, "object_name": "0_5_204", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd" ] }, { "position": [ 15.2488, 0.89498, 52.2253 ], "radius": null, "object_id": 207, "object_name": "0_5_207", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "c8225c23e023472188041a93756df582" ] }, { "position": [ 12.04, 0.74111, 49.5499 ], "radius": null, "object_id": 212, "object_name": "0_5_212", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 13.4419, 0.76326, 50.2943 ], "radius": null, "object_id": 215, "object_name": "0_5_215", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "dbfc751a205b487382c667588623d464", "c8225c23e023472188041a93756df582" ] }, { "position": [ 12.9503, 0.73928, 49.5215 ], "radius": null, "object_id": 217, "object_name": "0_5_217", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "dbfc751a205b487382c667588623d464" ] }, { "position": [ 14.2799, 0.76245, 53.3754 ], "radius": null, "object_id": 218, "object_name": "0_5_218", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "c8225c23e023472188041a93756df582", "0_edge_90_newN_0" ] }, { "position": [ 13.8507, 0.74803, 51.3672 ], "radius": null, "object_id": 219, "object_name": "0_5_219", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "dbfc751a205b487382c667588623d464", "c8225c23e023472188041a93756df582" ] }, { "position": [ 10.4958, 0.77559, 54.3443 ], "radius": null, "object_id": 220, "object_name": "0_5_220", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "6488e19b0c5249eabb792c2bbebf8137", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 11.8441, 0.75142, 48.5244 ], "radius": null, "object_id": 221, "object_name": "0_5_221", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 12.949, 0.74758, 46.9851 ], "radius": null, "object_id": 224, "object_name": "0_5_224", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 9.39263, 0.77676, 49.93119 ], "radius": null, "object_id": 229, "object_name": "0_5_229", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", "observable_viewpoint_ids": [ "7b7943b56b9a4febae48c82f6e3f507d" ] }, { "position": [ 14.7016, 0.71242, 51.4831 ], "radius": null, "object_id": 230, "object_name": "0_5_230", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "c8225c23e023472188041a93756df582" ] }, { "position": [ 13.358, 0.68633, 47.4098 ], "radius": null, "object_id": 232, "object_name": "0_5_232", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 11.2636, 0.74238, 54.0295 ], "radius": null, "object_id": 233, "object_name": "0_5_233", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "434eafc01e8e4a32beeeddba478776bf", "0_edge_90_newN_0" ] }, { "position": [ 13.633, 0.7049, 54.5672 ], "radius": null, "object_id": 236, "object_name": "0_5_236", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "0_edge_90_newN_1", "0_edge_90_newN_0", "ed5878df5c86400499d7651eab1c4a35", "a31586a01b5947c89f02d9fa852b0d97", "c8225c23e023472188041a93756df582" ] }, { "position": [ 14.5405, 0.71502, 54.2848 ], "radius": null, "object_id": 237, "object_name": "0_5_237", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "c8225c23e023472188041a93756df582", "0_edge_90_newN_0" ] }, { "position": [ 13.2736, 0.69504, 48.9356 ], "radius": null, "object_id": 238, "object_name": "0_5_238", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 9.05631, 0.73781, 47.5296 ], "radius": null, "object_id": 240, "object_name": "0_5_240", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", "observable_viewpoint_ids": [ "7b7943b56b9a4febae48c82f6e3f507d" ] }, { "position": [ 11.1378, 0.74281, 50.9056 ], "radius": null, "object_id": 242, "object_name": "0_5_242", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 14.2402, 0.69179, 48.6498 ], "radius": null, "object_id": 243, "object_name": "0_5_243", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "dbfc751a205b487382c667588623d464" ] }, { "position": [ 11.4803, 0.75385, 53.006 ], "radius": null, "object_id": 244, "object_name": "0_5_244", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 14.7204, 0.68744, 48.7295 ], "radius": null, "object_id": 248, "object_name": "0_5_248", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "dbfc751a205b487382c667588623d464" ] }, { "position": [ 8.3676, 0.69941, 54.2589 ], "radius": null, "object_id": 249, "object_name": "0_5_249", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", "observable_viewpoint_ids": [ "5e54afb639e8489282ebf3ac01821cc7", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 9.49354, 0.73059, 51.9138 ], "radius": null, "object_id": 251, "object_name": "0_5_251", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", "observable_viewpoint_ids": [ "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 7.75681, 0.87892, 51.2737 ], "radius": null, "object_id": 258, "object_name": "0_5_258", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", "observable_viewpoint_ids": [ "5e54afb639e8489282ebf3ac01821cc7" ] }, { "position": [ 10.774, 0.68365, 49.8134 ], "radius": null, "object_id": 259, "object_name": "0_5_259", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", "observable_viewpoint_ids": [ "dbfc751a205b487382c667588623d464" ] }, { "position": [ 9.23472, 0.70499, 51.31969 ], "radius": null, "object_id": 260, "object_name": "0_5_260", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", "observable_viewpoint_ids": [ "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 11.0826, 0.75166, 48.3113 ], "radius": null, "object_id": 265, "object_name": "0_5_265", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 12.0424, 0.73626, 51.127 ], "radius": null, "object_id": 268, "object_name": "0_5_268", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "dbfc751a205b487382c667588623d464", "c8225c23e023472188041a93756df582" ] }, { "position": [ 14.7807, 0.88878, 54.4694 ], "radius": null, "object_id": 269, "object_name": "0_5_269", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "c8225c23e023472188041a93756df582", "0_edge_90_newN_0", "0_edge_90_newN_1" ] }, { "position": [ 11.5935, 0.70388, 47.138 ], "radius": null, "object_id": 271, "object_name": "0_5_271", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 10.7627, 0.74055, 52.7702 ], "radius": null, "object_id": 272, "object_name": "0_5_272", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 10.2571, 0.76233, 55.0696 ], "radius": null, "object_id": 275, "object_name": "0_5_275", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6488e19b0c5249eabb792c2bbebf8137", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "6488e19b0c5249eabb792c2bbebf8137", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 13.3439, 0.7067, 51.7482 ], "radius": null, "object_id": 277, "object_name": "0_5_277", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "dbfc751a205b487382c667588623d464", "c8225c23e023472188041a93756df582" ] }, { "position": [ 13.4687, 0.76334, 55.5105 ], "radius": null, "object_id": 280, "object_name": "0_5_280", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_90_newN_1", "observable_viewpoint_ids": [ "a31586a01b5947c89f02d9fa852b0d97", "c8225c23e023472188041a93756df582", "0_edge_90_newN_1", "0_edge_90_newN_0" ] }, { "position": [ 13.1423, 0.7077, 52.5444 ], "radius": null, "object_id": 281, "object_name": "0_5_281", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "c8225c23e023472188041a93756df582" ] }, { "position": [ 7.24238, 0.88322, 46.5956 ], "radius": null, "object_id": 282, "object_name": "0_5_282", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0db658dc49514ca18be7b44ceb363849", "observable_viewpoint_ids": [ "7b7943b56b9a4febae48c82f6e3f507d" ] }, { "position": [ 12.0433, 0.76954, 55.83089 ], "radius": null, "object_id": 283, "object_name": "0_5_283", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_90_newN_1", "observable_viewpoint_ids": [ "a31586a01b5947c89f02d9fa852b0d97", "6488e19b0c5249eabb792c2bbebf8137", "0_edge_90_newN_1", "0_edge_90_newN_0" ] }, { "position": [ 14.8649, 0.83658, 50.1307 ], "radius": null, "object_id": 284, "object_name": "0_5_284", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "dbfc751a205b487382c667588623d464", "c8225c23e023472188041a93756df582" ] }, { "position": [ 15.0004, 0.80171, 52.9754 ], "radius": null, "object_id": 285, "object_name": "0_5_285", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "c8225c23e023472188041a93756df582" ] }, { "position": [ 12.2288, 0.75446, 55.2181 ], "radius": null, "object_id": 289, "object_name": "0_5_289", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_90_newN_1", "observable_viewpoint_ids": [ "0_edge_90_newN_1", "0_edge_90_newN_0", "ed5878df5c86400499d7651eab1c4a35", "a31586a01b5947c89f02d9fa852b0d97", "c8225c23e023472188041a93756df582" ] }, { "position": [ 10.3972, 0.68599, 52.0555 ], "radius": null, "object_id": 292, "object_name": "0_5_292", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", "observable_viewpoint_ids": [ "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 15.0756, 0.85444, 49.3745 ], "radius": null, "object_id": 293, "object_name": "0_5_293", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "dbfc751a205b487382c667588623d464" ] }, { "position": [ 12.1362, 0.73259, 52.668 ], "radius": null, "object_id": 294, "object_name": "0_5_294", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "c8225c23e023472188041a93756df582", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 11.4491, 0.77985, 56.0099 ], "radius": null, "object_id": 295, "object_name": "0_5_295", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_90_newN_1", "observable_viewpoint_ids": [ "a31586a01b5947c89f02d9fa852b0d97", "6488e19b0c5249eabb792c2bbebf8137", "0_edge_90_newN_1" ] }, { "position": [ 10.628, 0.76447, 55.8977 ], "radius": null, "object_id": 296, "object_name": "0_5_296", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6488e19b0c5249eabb792c2bbebf8137", "observable_viewpoint_ids": [ "6488e19b0c5249eabb792c2bbebf8137", "0_edge_90_newN_1" ] }, { "position": [ 14.2275, 0.70219, 50.4166 ], "radius": null, "object_id": 298, "object_name": "0_5_298", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "dbfc751a205b487382c667588623d464", "c8225c23e023472188041a93756df582" ] }, { "position": [ 11.9869, 0.75266, 54.3653 ], "radius": null, "object_id": 301, "object_name": "0_5_301", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_90_newN_0", "observable_viewpoint_ids": [ "434eafc01e8e4a32beeeddba478776bf", "0_edge_90_newN_0", "ed5878df5c86400499d7651eab1c4a35", "c8225c23e023472188041a93756df582", "0_edge_90_newN_1" ] }, { "position": [ 13.4671, 0.75859, 53.184 ], "radius": null, "object_id": 303, "object_name": "0_5_303", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "c8225c23e023472188041a93756df582", "0_edge_90_newN_0" ] }, { "position": [ 14.2146, 0.73701, 47.5674 ], "radius": null, "object_id": 307, "object_name": "0_5_307", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 7.75501, 0.84173, 49.1883 ], "radius": null, "object_id": 309, "object_name": "0_5_309", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", "observable_viewpoint_ids": [ "7b7943b56b9a4febae48c82f6e3f507d" ] }, { "position": [ 7.80054, 0.56994, 54.4682 ], "radius": null, "object_id": 310, "object_name": "0_5_310", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", "observable_viewpoint_ids": [ "5e54afb639e8489282ebf3ac01821cc7", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 9.42232, 0.76854, 55.2115 ], "radius": null, "object_id": 311, "object_name": "0_5_311", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6488e19b0c5249eabb792c2bbebf8137", "observable_viewpoint_ids": [ "6488e19b0c5249eabb792c2bbebf8137", "434eafc01e8e4a32beeeddba478776bf", "5e54afb639e8489282ebf3ac01821cc7" ] }, { "position": [ 13.3296, 0.57011, 55.1943 ], "radius": null, "object_id": 313, "object_name": "0_5_313", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_90_newN_1", "observable_viewpoint_ids": [ "0_edge_90_newN_1", "0_edge_90_newN_0", "a31586a01b5947c89f02d9fa852b0d97", "ed5878df5c86400499d7651eab1c4a35", "c8225c23e023472188041a93756df582" ] }, { "position": [ 8.61962, 0.47669, 52.9147 ], "radius": null, "object_id": 318, "object_name": "0_5_318", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", "observable_viewpoint_ids": [ "5e54afb639e8489282ebf3ac01821cc7", "434eafc01e8e4a32beeeddba478776bf" ] }, { "all_observation_viewpoint_ids": [ "87870f8cba81492b8ef631196a2f6560", "0_edge_73_newN_0", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_136_newN_2", "a595e80625ce4c808cf713581ce1c0da", "0_edge_144_newN_1", "daa0aa844488426a9174a7051698a417", "0_edge_11_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_3_newN_1", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_90_newN_0", "0_edge_130_newN_0", "aa3049db9ce543e0bb9456793ad1ea2e", "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "e08f96be3042438dbcbead0207f8b016", "0_edge_151_newN_1", "dbfc751a205b487382c667588623d464", "ee62dcd77a3446028da94a7b93a2afe7", "0_edge_59_newN_0", "7a87d776b160483a95fc4f7cdffe0432", "0_edge_87_newN_1", "0_edge_2_newN_1", "0_edge_130_newN_1", "3a5f7c6c250e4d56b96ff967489de836", "434eafc01e8e4a32beeeddba478776bf", "d260eaeca5694719868f318ab468be27", "0_edge_148_newN_0", "a9db6e3e630f4490b8aaedc387b3adad", "63ac2b2ef1e0457385976d17655da263", "0_edge_0_newN_1", "0_edge_144_newN_0", "0_edge_90_newN_1", "a3e731b8c53346cbad60c56777279606", "0_edge_148_newN_1", "c8225c23e023472188041a93756df582", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_84_newN_4", "0_edge_3_newN_2", "255f67f42d6447d0996f35abb4a445a9", "fe3bfd1d61ec4682991ac250f0791ae1", "0_edge_5_newN_2", "deb943d89d2a44ce8850edec3c7308f9", "0_edge_59_newN_1", "0_edge_87_newN_2", "a369445bc9e0429a868d5dc11e365f05", "ce911e4041d24673bc7e5d80dd645630", "9777c924f783428ca832493cef2b5259", "0_edge_3_newN_0", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "c0a8647aead54f7295512181bac0440e", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_8_newN_2", "0_edge_11_newN_0", "5f2a3396b86045d5bc7f283d1e48d8fd", "5fb26cecda204c40ae520fbda21ce82e", "5e54afb639e8489282ebf3ac01821cc7", "0_edge_28_newN_0", "10_edge_158_newN_0", "0_edge_151_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "0_edge_32_newN_2", "7b7943b56b9a4febae48c82f6e3f507d", "a31586a01b5947c89f02d9fa852b0d97", "ed5878df5c86400499d7651eab1c4a35", "0_edge_148_newN_2", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "6488e19b0c5249eabb792c2bbebf8137", "0_edge_74_newN_1", "0db658dc49514ca18be7b44ceb363849" ] } ], "PuKPg4mmafe.glb_table": [ { "position": [ -13.288, 0.36067, -2.89574 ], "radius": null, "object_id": 51, "object_name": "0_0_51", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_3_newN_1", "observable_viewpoint_ids": [ "0_edge_3_newN_0", "0_edge_3_newN_1", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_0_newN_1" ] }, { "position": [ -8.96756, 0.41627, -4.39638 ], "radius": null, "object_id": 53, "object_name": "0_0_53", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_1_newN_0", "observable_viewpoint_ids": [ "0_edge_2_newN_1", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "d260eaeca5694719868f318ab468be27" ] }, { "position": [ -15.1411, 0.3459, 7.46951 ], "radius": null, "object_id": 50, "object_name": "0_0_50", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "deb943d89d2a44ce8850edec3c7308f9", "observable_viewpoint_ids": [ "deb943d89d2a44ce8850edec3c7308f9" ] }, { "position": [ -5.09511, 0.36948, -6.35781 ], "radius": null, "object_id": 54, "object_name": "0_0_54", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_47_newN_1", "observable_viewpoint_ids": [ "0_edge_45_newN_0", "0_edge_5_newN_2", "daa0aa844488426a9174a7051698a417" ] }, { "position": [ 0.18295, 0.72556, 4.04129 ], "radius": null, "object_id": 103, "object_name": "0_3_103", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "ee62dcd77a3446028da94a7b93a2afe7", "observable_viewpoint_ids": [ "95402f398bab4d1f83c68015eccd5cc8", "ec5c91f9eea342c4b87f5cfd403dcefb", "37f62db110c94798b2eec3c180d2fa39", "ee62dcd77a3446028da94a7b93a2afe7", "97199ffe16bc45d0acb64341501e467e" ] }, { "position": [ -1.66032, 0.35925, -7.95222 ], "radius": null, "object_id": 56, "object_name": "0_0_56", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "63ac2b2ef1e0457385976d17655da263", "observable_viewpoint_ids": [ "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0" ] }, { "position": [ -2.07301, 0.31103, -9.12418 ], "radius": null, "object_id": 43, "object_name": "0_0_43", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "bb55c5f20f784105bae11a40f33cf7d9", "observable_viewpoint_ids": [ "bb55c5f20f784105bae11a40f33cf7d9", "e26e187d102947e0a9a9bb050563e28d", "10_edge_158_newN_0", "0_edge_151_newN_0" ] }, { "position": [ 2.80671, 0.59676, 41.59719 ], "radius": null, "object_id": 150, "object_name": "0_4_150", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_59_newN_1", "observable_viewpoint_ids": [ "0_edge_59_newN_1", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "544ccad03803403c97721228e7cc9669" ] }, { "position": [ 2.67, 0.82531, 43.5458 ], "radius": null, "object_id": 168, "object_name": "0_4_168", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_87_newN_1", "observable_viewpoint_ids": [ "0_edge_87_newN_1", "0_edge_73_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_1", "a3e731b8c53346cbad60c56777279606", "0_edge_59_newN_0" ] }, { "position": [ 0.26831, 0.7376, 43.7696 ], "radius": null, "object_id": 166, "object_name": "0_4_166", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_87_newN_2", "observable_viewpoint_ids": [ "0_edge_87_newN_1", "0_edge_73_newN_0", "2e1d19c78bc74e1cb4a13927c3050e14", "255f67f42d6447d0996f35abb4a445a9", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_87_newN_2", "0_edge_74_newN_1" ] }, { "position": [ -0.2558, 0.82459, 41.6203 ], "radius": null, "object_id": 178, "object_name": "0_4_178", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "255f67f42d6447d0996f35abb4a445a9", "observable_viewpoint_ids": [ "63b2f39fcc844216ada0b28c0873ae61", "fe3bfd1d61ec4682991ac250f0791ae1", "255f67f42d6447d0996f35abb4a445a9" ] }, { "position": [ 1.53985, 0.83488, 45.5575 ], "radius": null, "object_id": 153, "object_name": "0_4_153", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_73_newN_0", "observable_viewpoint_ids": [ "0_edge_73_newN_0", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "aa3049db9ce543e0bb9456793ad1ea2e", "a3e731b8c53346cbad60c56777279606" ] }, { "position": [ 2.72906, 0.79996, 47.181 ], "radius": null, "object_id": 142, "object_name": "0_4_142", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "a3e731b8c53346cbad60c56777279606", "observable_viewpoint_ids": [ "aa3049db9ce543e0bb9456793ad1ea2e", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849" ] }, { "position": [ -1.74151, 0.83406, 43.265 ], "radius": null, "object_id": 144, "object_name": "0_4_144", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_148_newN_1", "observable_viewpoint_ids": [ "255f67f42d6447d0996f35abb4a445a9", "fe3bfd1d61ec4682991ac250f0791ae1", "0_edge_148_newN_0", "0_edge_148_newN_2", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_74_newN_1" ] }, { "position": [ 8.32887, 0.82765, 46.8089 ], "radius": null, "object_id": 187, "object_name": "0_5_187", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", "observable_viewpoint_ids": [ "7b7943b56b9a4febae48c82f6e3f507d", "0_edge_84_newN_4" ] }, { "position": [ 10.9956, 0.53234, 46.3537 ], "radius": null, "object_id": 299, "object_name": "0_5_299", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_84_newN_4", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "89fc715c56814d59aaf7eaa522fe199a", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64" ] }, { "position": [ -1.70694, 0.86626, 45.6999 ], "radius": null, "object_id": 175, "object_name": "0_4_175", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_144_newN_0", "observable_viewpoint_ids": [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_144_newN_1", "a369445bc9e0429a868d5dc11e365f05", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_74_newN_1" ] }, { "position": [ -1.30058, 0.53309, 47.6409 ], "radius": null, "object_id": 155, "object_name": "0_4_155", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "a369445bc9e0429a868d5dc11e365f05", "observable_viewpoint_ids": [ "a369445bc9e0429a868d5dc11e365f05", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14" ] }, { "position": [ 13.924, 0.86612, 46.5727 ], "radius": null, "object_id": 270, "object_name": "0_5_270", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "89fc715c56814d59aaf7eaa522fe199a", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 11.2265, 0.87035, 55.0741 ], "radius": null, "object_id": 194, "object_name": "0_5_194", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_90_newN_0", "observable_viewpoint_ids": [ "434eafc01e8e4a32beeeddba478776bf", "0_edge_90_newN_0", "ed5878df5c86400499d7651eab1c4a35", "6488e19b0c5249eabb792c2bbebf8137", "0_edge_90_newN_1" ] }, { "position": [ 8.74328, 0.83968, 49.3149 ], "radius": null, "object_id": 195, "object_name": "0_5_195", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", "observable_viewpoint_ids": [ "7b7943b56b9a4febae48c82f6e3f507d" ] }, { "position": [ 14.3044, 0.87687, 55.2517 ], "radius": null, "object_id": 202, "object_name": "0_5_202", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_90_newN_1", "observable_viewpoint_ids": [ "a31586a01b5947c89f02d9fa852b0d97", "c8225c23e023472188041a93756df582", "0_edge_90_newN_0", "0_edge_90_newN_1" ] }, { "position": [ 11.3408, 0.80744, 52.0031 ], "radius": null, "object_id": 222, "object_name": "0_5_222", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "434eafc01e8e4a32beeeddba478776bf" ] }, { "position": [ 14.1426, 0.86434, 52.3779 ], "radius": null, "object_id": 225, "object_name": "0_5_225", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "c8225c23e023472188041a93756df582", "observable_viewpoint_ids": [ "ed5878df5c86400499d7651eab1c4a35", "c8225c23e023472188041a93756df582" ] }, { "position": [ 14.0522, 0.84669, 49.4634 ], "radius": null, "object_id": 234, "object_name": "0_5_234", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "dbfc751a205b487382c667588623d464", "observable_viewpoint_ids": [ "dbfc751a205b487382c667588623d464" ] }, { "position": [ 11.1311, 0.53199, 49.2407 ], "radius": null, "object_id": 241, "object_name": "0_5_241", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", "observable_viewpoint_ids": [ "5f2a3396b86045d5bc7f283d1e48d8fd", "dbfc751a205b487382c667588623d464" ] }, { "position": [ 8.45067, 0.86978, 55.143 ], "radius": null, "object_id": 245, "object_name": "0_5_245", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", "observable_viewpoint_ids": [ "6488e19b0c5249eabb792c2bbebf8137", "434eafc01e8e4a32beeeddba478776bf", "5e54afb639e8489282ebf3ac01821cc7" ] }, { "position": [ 8.54189, 0.83949, 51.947 ], "radius": null, "object_id": 273, "object_name": "0_5_273", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", "observable_viewpoint_ids": [ "5e54afb639e8489282ebf3ac01821cc7", "434eafc01e8e4a32beeeddba478776bf" ] }, { "all_observation_viewpoint_ids": [ "0db658dc49514ca18be7b44ceb363849", "0_edge_73_newN_0", "e26e187d102947e0a9a9bb050563e28d", "2e1d19c78bc74e1cb4a13927c3050e14", "daa0aa844488426a9174a7051698a417", "0_edge_144_newN_1", "0_edge_3_newN_1", "0_edge_90_newN_0", "0_edge_130_newN_0", "aa3049db9ce543e0bb9456793ad1ea2e", "5fb68178835247328ebd444ea4207d64", "ee62dcd77a3446028da94a7b93a2afe7", "89fc715c56814d59aaf7eaa522fe199a", "dbfc751a205b487382c667588623d464", "0_edge_59_newN_0", "0_edge_87_newN_1", "0_edge_2_newN_1", "434eafc01e8e4a32beeeddba478776bf", "d260eaeca5694719868f318ab468be27", "0_edge_148_newN_0", "63ac2b2ef1e0457385976d17655da263", "0_edge_0_newN_1", "0_edge_144_newN_0", "0_edge_90_newN_1", "a3e731b8c53346cbad60c56777279606", "c8225c23e023472188041a93756df582", "bb55c5f20f784105bae11a40f33cf7d9", "95402f398bab4d1f83c68015eccd5cc8", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_84_newN_4", "deb943d89d2a44ce8850edec3c7308f9", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_5_newN_2", "255f67f42d6447d0996f35abb4a445a9", "fe3bfd1d61ec4682991ac250f0791ae1", "0_edge_3_newN_0", "0_edge_1_newN_0", "0_edge_59_newN_1", "0_edge_87_newN_2", "9777c924f783428ca832493cef2b5259", "a369445bc9e0429a868d5dc11e365f05", "544ccad03803403c97721228e7cc9669", "6488e19b0c5249eabb792c2bbebf8137", "4c8ae1df2cfe4379aba1fcd305221c4c", "5f2a3396b86045d5bc7f283d1e48d8fd", "5e54afb639e8489282ebf3ac01821cc7", "10_edge_158_newN_0", "0_edge_151_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "ed5878df5c86400499d7651eab1c4a35", "7b7943b56b9a4febae48c82f6e3f507d", "a31586a01b5947c89f02d9fa852b0d97", "0_edge_148_newN_2", "37f62db110c94798b2eec3c180d2fa39", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_74_newN_1", "97199ffe16bc45d0acb64341501e467e" ] } ], "PuKPg4mmafe.glb_stool": [ { "position": [ -24.0652, 0.4327, 0.17905 ], "radius": null, "object_id": 57, "object_name": "0_0_57", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "121a837c700045e8bd73592a5edf1aee", "observable_viewpoint_ids": [ "121a837c700045e8bd73592a5edf1aee", "ea57049411f1475f9279bb323dc1f999" ] }, { "all_observation_viewpoint_ids": [ "ea57049411f1475f9279bb323dc1f999", "121a837c700045e8bd73592a5edf1aee" ] } ], "PuKPg4mmafe.glb_picture": [ { "position": [ 3.89124, 1.42199, 28.6696 ], "radius": null, "object_id": 84, "object_name": "0_1_84", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "72dc0c6d62414bbaa9fe67ecfe6305e3", "observable_viewpoint_ids": [ "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "all_observation_viewpoint_ids": [ "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] } ] }, { "episode_id": "ACI0C2WU1NABK:3A9AA95ATYPB4MWO73HNAMIZRWZP5H", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -22.00657, 0.18397, 5.40845 ], "start_rotation": [ 0, 0.6078, 0, 0.79409 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.45347, "euclidean_distance": 6.27922, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.75012, 0.10626, 1.85897 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_111_newN_2", "path": [ "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2L26DMSVUEDP6:32M8BPYGAVPH3XY4B4AU5M8CWY6IGJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -7.57234, -0.01603, 7.2131 ], "start_rotation": [ 0, 0.3407, 0, -0.94017 ], "object_category": "picture", "info": { "geodesic_distance": 26.14859, "euclidean_distance": 23.5857, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.15557, 0.18397, 27.6444 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", "path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", [ "c835bc9904a846ce88571c2ee3557af0" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A1ATL3G98SFW4V:3U088ZLJVMW2TO7OMJP6LLU43P60WP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.21711, 0.18397, 19.81664 ], "start_rotation": [ 0, 0.69335, 0, -0.7206 ], "object_category": "sofa", "info": { "geodesic_distance": 22.13176, "euclidean_distance": 18.76498, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.44066, -0.01603, 6.82484 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "b3fdc3c598324cc5bbaf8c704c03a8bf", "path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", [ "2ad491d5db914f9689bfec52a694dd18" ], "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ] }, { "episode_id": "A3TN1QCPUCJZBF:3X4MXAO0BIRQTIRNGW8L5HVRDIPRW5", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.32665, 0.18397, 25.69782 ], "start_rotation": [ 0, 0.1219, 0, 0.99254 ], "object_category": "table", "info": { "geodesic_distance": 19.66067, "euclidean_distance": 16.69468, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.4434, 0.18397, 41.37201 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "A1F6MWP9A0XLJQ:30ZX6P7VFAYNJEA3U7A5FJTBZU02J6", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.9595, 0.18397, 24.48206 ], "start_rotation": [ 0, 0.80719, 0, -0.59029 ], "object_category": "sofa", "info": { "geodesic_distance": 26.92562, "euclidean_distance": 20.97157, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.45475, -0.01603, 6.81429 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A3RR85PK3AV9TU:3CPLWGV3MQ2U2OMNUEHCIDI6DFY9NH", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.29184, 0.18397, 24.54765 ], "start_rotation": [ 0, 0.86705, 0, -0.49822 ], "object_category": "chair", "info": { "geodesic_distance": 16.25271, "euclidean_distance": 14.76218, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.94874, -0.01603, 10.01932 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3SUWZRL0M0G3QZ7C38BH8GXVAR66E6", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.8591, 0.18397, 1.75988 ], "start_rotation": [ 0, 0.19239, 0, 0.98132 ], "object_category": "chair", "info": { "geodesic_distance": 4.25468, "euclidean_distance": 2.99737, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.85874, 0.18397, 4.69772 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_31_newN_0", "path": [ "0_edge_31_newN_0", "0_edge_110_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "0_edge_31_newN_0", "0_edge_110_newN_0", [ "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", [ "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:33OOO72IVJOUVZYA3UDFT2P68KTCTC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.70451, 0.18397, 28.26928 ], "start_rotation": [ 0, 0.12771, 0, 0.99181 ], "object_category": "picture", "info": { "geodesic_distance": 6.07579, "euclidean_distance": 5.65226, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.96468, 0.18397, 27.74913 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A2TUUIV61CR0C7:354P56DE9M6N4IQZND0E3B165QR7SS", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.59434, 0.08293, 13.82549 ], "start_rotation": [ 0, 0.96675, 0, -0.25573 ], "object_category": "sofa", "info": { "geodesic_distance": 16.04285, "euclidean_distance": 13.68392, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.4046, -0.01603, 6.84614 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "8e489f8b8bc5448b9410a41faa216021", "path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A3L8LSM7V7KX3T:3A1PQ49WVJKK3NXHN376YN3RTPN1H9", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.55142, 0.18397, 5.34132 ], "start_rotation": [ 0, 0.86232, 0, -0.50637 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.05231, "euclidean_distance": 5.09785, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.76552, 0.10802, 1.94887 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_32_newN_2", "path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", [ "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ], "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A26LOVXF4QZZCO:3Q8GYXHFER5SAXNK2YVHQMJSTKTC5E", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.24983, 0.18397, 25.20715 ], "start_rotation": [ 0, 0.99967, 0, 0.02567 ], "object_category": "table", "info": { "geodesic_distance": 20.6919, "euclidean_distance": 17.48442, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.41253, 0.18397, 41.50124 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432" ], "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A3TN1QCPUCJZBF:3CCZ6YKWR9MQCZGHQELQOWIKMVA955", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.84146, 0.18397, 28.23218 ], "start_rotation": [ 0, 0.90422, 0, 0.42707 ], "object_category": "table", "info": { "geodesic_distance": 19.14198, "euclidean_distance": 14.1524, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.47225, 0.18397, 41.34364 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", [ "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d" ], "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", [ "a3e731b8c53346cbad60c56777279606" ] ] }, { "episode_id": "A2MCG5W6LHSRG9:30BUDKLTXFY77V7YYP1CGAJVDP9E5X", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.00836, -0.01603, 10.75387 ], "start_rotation": [ 0, 0.71762, 0, 0.69644 ], "object_category": "sofa", "info": { "geodesic_distance": 12.77542, "euclidean_distance": 11.08086, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.41676, -0.01603, 6.76408 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "854ce53825a347bba52684d20cca190b", "path": [ "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:3CTOC39K39TU5F790JR0BAAJ98Z7JZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.00921, -0.01603, 4.1724 ], "start_rotation": [ 0, 0.69384, 0, -0.72013 ], "object_category": "stool", "info": { "geodesic_distance": 16.41736, "euclidean_distance": 15.33946, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.66575, 0.18397, 0.12824 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "c835bc9904a846ce88571c2ee3557af0", "path": [ "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "AOMFEAWQHU3D8:3PDJHANYK7JFA9YET9JNTJU813UH6K", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.24942, -0.01603, 0.5588 ], "start_rotation": [ 0, 0.08858, 0, 0.99607 ], "object_category": "table", "info": { "geodesic_distance": 5.81095, "euclidean_distance": 4.77965, "closest_goal_object_id": 51, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.2249, -0.01603, -2.164 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_11_newN_1", "path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", [ "0_edge_11_newN_1" ], "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "A16K7X677N4WN6:3STRJBFXOYUCEXAYV7UDHL2EE01KTB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.57066, -0.01603, -0.15256 ], "start_rotation": [ 0, 0.23656, 0, 0.97162 ], "object_category": "stool", "info": { "geodesic_distance": 25.54636, "euclidean_distance": 23.38557, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.70763, 0.18397, 0.05591 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A28AXX4NCWPH1F:3F6HPJW4JF39PYA216TK49NJ0NA2WV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.48417, 0.18397, 11.48271 ], "start_rotation": [ 0, 0.86978, 0, -0.49344 ], "object_category": "chair", "info": { "geodesic_distance": 4.92607, "euclidean_distance": 4.20216, "closest_goal_object_id": 34, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -19.71878, 0.18397, 7.28667 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_98_newN_3", "path": [ "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ], "refined_path": [ "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", [ "0_edge_98_newN_3" ], "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ] }, { "episode_id": "ACI0C2WU1NABK:3018Q3ZVOKTTM5OKFRCTNSY0KS4ARG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -5.9835, -0.01603, 0.93534 ], "start_rotation": [ 0, 0.61783, 0, -0.78631 ], "object_category": "sofa", "info": { "geodesic_distance": 8.72156, "euclidean_distance": 6.61671, "closest_goal_object_id": 38, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -7.45832, -0.01603, -5.48229 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "ce911e4041d24673bc7e5d80dd645630", "path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3TEM0PF1Q703KI7X5OKGTX5JW9OD0H", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.03451, 0.18397, 42.59649 ], "start_rotation": [ 0, 0.88233, 0, 0.47063 ], "object_category": "picture", "info": { "geodesic_distance": 15.0903, "euclidean_distance": 13.49496, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.5771, 0.18397, 29.3805 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_59_newN_0", "path": [ "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669" ], "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3YJ6NA41JDJJBLB9W5LHBW149WLPJS", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.68889, -0.01603, -0.68818 ], "start_rotation": [ 0, 0.89164, 0, -0.45275 ], "object_category": "cabinet", "info": { "geodesic_distance": 12.09671, "euclidean_distance": 10.45364, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.16543, 0.06963, 0.0515 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "44d33d6e1d08491bbbbefbbdf4153521", "path": [ "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", [ "44d33d6e1d08491bbbbefbbdf4153521" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3RR85PK3AV9TU:3VELCLL3GMM0PR6BSDJ6V2REDA7F1M", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -14.16949, -0.01603, -1.49506 ], "start_rotation": [ 0, 0.8644, 0, 0.5028 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.50433, "euclidean_distance": 1.28903, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.05497, -0.01295, -0.28234 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", "path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3RR85PK3AV9TU:3VJ40NV2QKQV4OVDTZM6O2JNY5XTOQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.74343, 0.18397, 46.32589 ], "start_rotation": [ 0, 0.84413, 0, -0.53614 ], "object_category": "picture", "info": { "geodesic_distance": 19.6784, "euclidean_distance": 17.78382, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.58133, 0.18397, 29.41747 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "2e1d19c78bc74e1cb4a13927c3050e14", "path": [ "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", [ "2e1d19c78bc74e1cb4a13927c3050e14" ], "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A3RR85PK3AV9TU:3ZSANO2JCHA0JB555WYQR3EN3DWSF1", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.32029, -0.01603, 4.55729 ], "start_rotation": [ 0, 0.0911, 0, 0.99584 ], "object_category": "picture", "info": { "geodesic_distance": 29.29083, "euclidean_distance": 27.81672, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.99731, 0.18397, 27.70325 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb" ], "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "AVASQBFN6J692:3STRJBFXOYUCEXAYV7UDHL2EDS7TK9", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.32248, 0.18397, 27.70726 ], "start_rotation": [ 0, 0.08207, 0, -0.99663 ], "object_category": "chair", "info": { "geodesic_distance": 19.53116, "euclidean_distance": 17.75101, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.01427, -0.01603, 10.0373 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "A16K7X677N4WN6:3GGAI1SQEX1QI48QUXC37OUEFJCMCF", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.60251, -0.01603, 4.33782 ], "start_rotation": [ 0, 0.52949, 0, -0.84832 ], "object_category": "stool", "info": { "geodesic_distance": 12.82501, "euclidean_distance": 11.96601, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.66594, 0.18397, 0.21837 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A26LOVXF4QZZCO:3KKG4CDWKK18GGCHC92GJ4C6MY649K", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.29827, 0.18397, 24.27708 ], "start_rotation": [ 0, 0.9329, 0, -0.36014 ], "object_category": "chair", "info": { "geodesic_distance": 16.66485, "euclidean_distance": 14.34282, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.85488, -0.01603, 10.0113 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:3FDJT1UU76BATVZ8UBCFE5W0XQT5K4", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.7428, -0.01603, 1.4481 ], "start_rotation": [ 0, 0.49636, 0, 0.86812 ], "object_category": "table", "info": { "geodesic_distance": 5.25649, "euclidean_distance": 4.99973, "closest_goal_object_id": 51, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.22752, -0.01603, -2.23739 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", "path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "0_edge_32_newN_2", "c0a8647aead54f7295512181bac0440e" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "c0a8647aead54f7295512181bac0440e", [ "deb943d89d2a44ce8850edec3c7308f9" ] ] }, { "episode_id": "A16K7X677N4WN6:3BV8HQ2ZZY400MQ0N39VCX74PGF6AQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.73349, 0.08557, 13.40559 ], "start_rotation": [ 0, 0.29632, 0, -0.95509 ], "object_category": "stool", "info": { "geodesic_distance": 27.41994, "euclidean_distance": 25.7495, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.69866, 0.18397, 0.07307 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "cde4845dbdcd439b988ffa3ab38262d1", "path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "AZPZDX26SYMFY:37XITHEISYCHFKLIZ58KTNOOKYSRC8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.48248, -0.00137, 14.8018 ], "start_rotation": [ 0, 0.24519, 0, 0.96947 ], "object_category": "sofa", "info": { "geodesic_distance": 16.45509, "euclidean_distance": 13.47296, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.43541, -0.01603, 6.95625 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "8e489f8b8bc5448b9410a41faa216021", "path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3GM6G9ZBKP074LA1GJ7TWYUI2UHMTG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.30453, 0.18397, 21.83978 ], "start_rotation": [ 0, 0.82284, 0, -0.56828 ], "object_category": "cabinet", "info": { "geodesic_distance": 27.0202, "euclidean_distance": 26.09986, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -13.95103, 0.11242, 0.80478 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "ACM3TPZKLE7WC:3UNH76FOCU83L79VQPUS4FMXH0BYM1", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 11.35354, 0.18397, 42.78304 ], "start_rotation": [ 0, 0.31498, 0, -0.9491 ], "object_category": "picture", "info": { "geodesic_distance": 19.34824, "euclidean_distance": 15.11942, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.5363, 0.18397, 29.24505 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", "path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A16K7X677N4WN6:3I3WADAZ9S7TJMKNS348LMD9HVB5OW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -5.02703, -0.01603, -5.32027 ], "start_rotation": [ 0, 0.99989, 0, 0.01479 ], "object_category": "stool", "info": { "geodesic_distance": 23.18533, "euclidean_distance": 18.60993, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.71708, 0.18397, 0.09138 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "daa0aa844488426a9174a7051698a417", "path": [ "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "0_edge_5_newN_2", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_111_newN_2", "0_edge_32_newN_2" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_5_newN_2", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", [ "1611d119a70b46869c6e12117aa71972" ], "0_edge_5_newN_2", [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0" ], "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", [ "9777c924f783428ca832493cef2b5259" ], "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ], "c0a8647aead54f7295512181bac0440e", [ "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ], "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_111_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] ] }, { "episode_id": "A2MCG5W6LHSRG9:3GNA64GUZG7W4YX37GWCAR89WRZ5Q0", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.12549, -0.01603, -5.71581 ], "start_rotation": [ 0, 0.68184, 0, 0.7315 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.21404, "euclidean_distance": 6.31074, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.19131, 0.05848, -0.08566 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "d260eaeca5694719868f318ab468be27", "path": [ "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A19C2SO0IMRZ1L:3R9WASFE21JXKNRJ0OSYNWBQQP0FZR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.15844, 0.18397, 0.03701 ], "start_rotation": [ 0, 0.97829, 0, -0.20722 ], "object_category": "sofa", "info": { "geodesic_distance": 8.23101, "euclidean_distance": 7.40193, "closest_goal_object_id": 49, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.52417, 0.04409, 6.46351 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ] }, { "episode_id": "AXAO7UJYYEFCO:3XIQGXAUMEBV0ZCYHN612JIYL7E7XQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.96709, 0.18397, 1.85175 ], "start_rotation": [ 0, 0.89788, 0, 0.44024 ], "object_category": "chair", "info": { "geodesic_distance": 3.61199, "euclidean_distance": 2.74538, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.73442, 0.18397, 4.69628 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", "path": [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ], "refined_path": [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", [ "a595e80625ce4c808cf713581ce1c0da" ], "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ] }, { "episode_id": "A3K1P4SPR8XS7R:3EQHHY4HQUV5R93P4KR0GD47Q8ZG5X", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -22.30894, 0.18397, -1.40734 ], "start_rotation": [ 0, 0.95037, 0, 0.31112 ], "object_category": "table", "info": { "geodesic_distance": 10.00142, "euclidean_distance": 9.84904, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.35634, 0.035, 6.36798 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", "path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", [ "c835bc9904a846ce88571c2ee3557af0" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "A3RR85PK3AV9TU:3GD6L00D3U06V1YSE0NJQSBNAGT1MZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.00197, 0.18397, 44.50694 ], "start_rotation": [ 0, 0.28884, 0, -0.95738 ], "object_category": "picture", "info": { "geodesic_distance": 20.35193, "euclidean_distance": 16.50507, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.57539, 0.18397, 29.46868 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "4c8ae1df2cfe4379aba1fcd305221c4c", "path": [ "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_144_newN_0", "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_144_newN_0", "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_144_newN_0", "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", [ "aa3049db9ce543e0bb9456793ad1ea2e" ], "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d" ], "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "AIIOT9A7ARQZW:3Z7ISHFUH2YO58HWSAMSD4U43QSZ89", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -5.84742, -0.01603, 0.25023 ], "start_rotation": [ 0, 0.99478, 0, 0.10205 ], "object_category": "stool", "info": { "geodesic_distance": 19.30671, "euclidean_distance": 16.96605, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.68085, 0.18397, 0.11044 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ce911e4041d24673bc7e5d80dd645630", "path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "AIOOOO5OXWXKM:3NPFYT4IZE7ETSNZAQAV8WVRJ4YGXQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.57025, 0.18397, 17.75162 ], "start_rotation": [ 0, 0.63278, 0, 0.77433 ], "object_category": "sofa", "info": { "geodesic_distance": 21.08412, "euclidean_distance": 18.4866, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.41164, -0.01603, 6.75022 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "b3fdc3c598324cc5bbaf8c704c03a8bf", "path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_5_newN_2" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_5_newN_2" ], "refined_path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_5_newN_2" ] }, { "episode_id": "ACM3TPZKLE7WC:3ZSY5X72NZEIO9ILPAHBONI5984ORN", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.38256, 0.18397, 24.43996 ], "start_rotation": [ 0, 0.94508, 0, -0.32685 ], "object_category": "cabinet", "info": { "geodesic_distance": 29.53663, "euclidean_distance": 28.28222, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.0158, 0.12665, 0.79445 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "c835bc9904a846ce88571c2ee3557af0", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "0_edge_129_newN_0", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "c835bc9904a846ce88571c2ee3557af0", [ "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa" ], "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", [ "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0" ], "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521" ], "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A21ZK49H9LSSRY:3YHH42UU5DIMIUVPI5I4CADO5EOL0V", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.1686, -0.01603, -0.85734 ], "start_rotation": [ 0, 0.49731, 0, -0.86757 ], "object_category": "cabinet", "info": { "geodesic_distance": 14.99898, "euclidean_distance": 14.31366, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.1917, 0.08067, 0.06182 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AIIOT9A7ARQZW:3YDTZAI2WZJQRB9M8WNN4YUNOPG41F", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.14572, 0.18397, 2.36999 ], "start_rotation": [ 0, 0.55857, 0, -0.82946 ], "object_category": "stool", "info": { "geodesic_distance": 9.78142, "euclidean_distance": 5.16512, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.78558, 0.18397, 0.11534 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", "path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0" ], "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:3G5F9DBFOR00PZDFUHRV5BA7IWDVHH", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.80058, 0.18397, 24.49936 ], "start_rotation": [ 0, 0.17313, 0, -0.9849 ], "object_category": "table", "info": { "geodesic_distance": 19.69464, "euclidean_distance": 17.66549, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.47314, 0.18397, 41.30719 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", [ "3a5f7c6c250e4d56b96ff967489de836" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "AKYXQY5IP7S0Z:3ND9UOO81M5FQKWABCBPJ5MS6LLLWJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.10139, 0.18397, 26.58008 ], "start_rotation": [ 0, 0.99842, 0, 0.05622 ], "object_category": "sofa", "info": { "geodesic_distance": 28.68274, "euclidean_distance": 23.20182, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.43325, -0.01603, 6.75402 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3QFUFYSY90IHHQ3UFV28T0YHPUHF4Z", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -13.45488, -0.01603, 3.88302 ], "start_rotation": [ 0, 0.40367, 0, 0.9149 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.17814, "euclidean_distance": 2.98947, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -15.44136, -0.01603, 1.69864 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "87870f8cba81492b8ef631196a2f6560", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", [ "2ad491d5db914f9689bfec52a694dd18" ], "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:37U1UTWH9XPF3HV5ITSFR1S5VBJ8R4", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.04879, -0.01603, 1.0069 ], "start_rotation": [ 0, 0.26131, 0, -0.96525 ], "object_category": "table", "info": { "geodesic_distance": 4.92029, "euclidean_distance": 4.46862, "closest_goal_object_id": 51, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.11386, -0.01603, -2.04004 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", "path": [ "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0" ], "refined_path": [ "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432" ], "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3I33IC7ZWH5CIL7Z01XSMKQS80EA2R", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -13.29029, -0.01603, 2.77164 ], "start_rotation": [ 0, 0.10242, 0, -0.99474 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.21325, "euclidean_distance": 2.00181, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.25644, 0.18397, 1.03842 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ee62dcd77a3446028da94a7b93a2afe7", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ee62dcd77a3446028da94a7b93a2afe7", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AZPZDX26SYMFY:3CTOC39K39TU5F790JR0BAAJ95D7J7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.10805, 0.18397, 28.36361 ], "start_rotation": [ 0, 0.38641, 0, 0.92233 ], "object_category": "table", "info": { "geodesic_distance": 18.50821, "euclidean_distance": 13.77531, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.47383, 0.18397, 41.46184 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "AIOOOO5OXWXKM:3634BBTX0QXBPX290K4CN180VI5IFH", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.70411, 0.18397, 1.693 ], "start_rotation": [ 0, 0.99951, 0, 0.03123 ], "object_category": "chair", "info": { "geodesic_distance": 4.19035, "euclidean_distance": 3.0152, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.7861, 0.18397, 4.69231 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_110_newN_0", "path": [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", [ "0_edge_31_newN_0" ], "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", [ "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016" ], "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", [ "5fb26cecda204c40ae520fbda21ce82e" ], "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "A1P3HHEXWNLJMP:33C7UALJVN1RACWOKZD0LAASRDY18A", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 12.73834, 0.18397, 43.87871 ], "start_rotation": [ 0, 0.45893, 0, -0.88847 ], "object_category": "picture", "info": { "geodesic_distance": 20.62531, "euclidean_distance": 16.74164, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.50607, 0.18397, 29.30728 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", "path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", [ "5fb68178835247328ebd444ea4207d64" ], "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "AIIOT9A7ARQZW:3P1L2B7AD3S7LBN8KQKF2B964STOL0", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.67519, -0.01603, 3.80131 ], "start_rotation": [ 0, 0.67803, 0, -0.73504 ], "object_category": "stool", "info": { "geodesic_distance": 20.75863, "euclidean_distance": 19.48206, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.67998, 0.18397, 0.08835 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "97199ffe16bc45d0acb64341501e467e", "path": [ "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A16K7X677N4WN6:34X6J5FLPV14BXCOWI06B1REETLJQT", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.89257, 0.18397, 4.33269 ], "start_rotation": [ 0, 0.69009, 0, 0.72372 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.20918, "euclidean_distance": 4.7597, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.80024, 0.11198, 1.78333 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "4534a8c9651e4ce891970e43e2724dfe", "path": [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "0_edge_84_newN_4", "0_edge_129_newN_0", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", [ "5fb68178835247328ebd444ea4207d64" ], "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A16K7X677N4WN6:3TUI152ZZDQXGGWK6TU071VSKHX1QT", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -6.15013, -0.01603, 0.85777 ], "start_rotation": [ 0, 0.19608, 0, -0.98059 ], "object_category": "stool", "info": { "geodesic_distance": 18.81104, "euclidean_distance": 16.67788, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.7676, 0.18397, 0.08378 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ce911e4041d24673bc7e5d80dd645630", "path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A2TUUIV61CR0C7:3EO896NRAYYH3D4GDMU1G621Y0RJTE", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.97178, -0.00805, -4.99956 ], "start_rotation": [ 0, 0.22324, 0, 0.97476 ], "object_category": "sofa", "info": { "geodesic_distance": 5.00212, "euclidean_distance": 4.101, "closest_goal_object_id": 48, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 0.14083, 0.18397, -9.03559 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", "path": [ "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ] }, { "episode_id": "AOMFEAWQHU3D8:3C8HJ7UOP9X3QXJ0MBWBIMVZNSJZMT", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.24039, -0.01603, 13.27883 ], "start_rotation": [ 0, 0.98844, 0, 0.15161 ], "object_category": "chair", "info": { "geodesic_distance": 3.89568, "euclidean_distance": 3.68632, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.84671, -0.01603, 9.99879 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "cde4845dbdcd439b988ffa3ab38262d1", "path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "A34CQE6RGU49L7:32VNZTT0A97EKG836Q22APC0SM14R0", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.05003, 0.18397, 42.83975 ], "start_rotation": [ 0, 0.84503, 0, -0.53472 ], "object_category": "picture", "info": { "geodesic_distance": 16.09793, "euclidean_distance": 13.94241, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.55262, 0.18397, 29.41358 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "63b2f39fcc844216ada0b28c0873ae61", "path": [ "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "0_edge_87_newN_1", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_84_newN_4", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "0_edge_87_newN_1", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "0_edge_87_newN_1", [ "0_edge_73_newN_0" ], "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d" ], "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A17OSPGV41FZ7P:3IOEN3P9S9M46YD0RKG21WE1LI716N", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.27005, 0.18397, 27.4092 ], "start_rotation": [ 0, 0.73226, 0, -0.68102 ], "object_category": "table", "info": { "geodesic_distance": 17.86756, "euclidean_distance": 14.57088, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.36516, 0.18397, 41.48132 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "AIIOT9A7ARQZW:31LVTDXBL9DAIOFOCI1JW6EBE99RLV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.30102, 0.54461, -6.86263 ], "start_rotation": [ 0, 0.49572, 0, 0.86849 ], "object_category": "stool", "info": { "geodesic_distance": 26.04494, "euclidean_distance": 14.34953, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.72108, 0.18397, 0.06828 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "0_edge_1_newN_0", "path": [ "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3RR85PK3AV9TU:3KB8R4ZV1GA7GPKY5UIDJZ4Z01CGBJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.40888, 0.18397, 24.85882 ], "start_rotation": [ 0, 0.86058, 0, 0.50932 ], "object_category": "sofa", "info": { "geodesic_distance": 27.62747, "euclidean_distance": 23.92128, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.51192, -0.01603, 6.89965 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", "path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "refined_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3IXQG4FA2V1S1FXQROC3RIICWNHB9L", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.86327, 0.18397, 5.6654 ], "start_rotation": [ 0, 0.21805, 0, -0.97594 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.38891, "euclidean_distance": 6.31268, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.73018, 0.10398, 1.90825 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_111_newN_2", "path": [ "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AXAO7UJYYEFCO:3RKNTXVS3O1MLZMM4FGGFZNQSHP4A2", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 8.85792, 0.18397, 41.84768 ], "start_rotation": [ 0, 0.8532, 0, -0.52158 ], "object_category": "picture", "info": { "geodesic_distance": 17.62441, "euclidean_distance": 13.27215, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.5489, 0.18397, 29.30246 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "AIIOT9A7ARQZW:3UOUJI6MTFHXYAOUUVZCCBWITNLUXZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -6.62423, -0.01603, 4.34998 ], "start_rotation": [ 0, 0.46178, 0, -0.88699 ], "object_category": "stool", "info": { "geodesic_distance": 17.80158, "euclidean_distance": 16.7236, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.75846, 0.18397, 0.11989 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "c835bc9904a846ce88571c2ee3557af0", "path": [ "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3K1P4SPR8XS7R:3AZHRG4CU6N52Q50CZE4GOJ75UH03K", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.05274, -0.01603, 9.42514 ], "start_rotation": [ 0, 0.87617, 0, -0.482 ], "object_category": "sofa", "info": { "geodesic_distance": 11.09494, "euclidean_distance": 9.68057, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.3986, -0.01603, 6.8047 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "3875b9ad36924b869985fed0412bc926", "path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "ACM3TPZKLE7WC:3A4TN5196ML4QQ7F30WQFJMIXPJHCQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.00433, -0.01603, 1.64093 ], "start_rotation": [ 0, 0.97209, 0, 0.23459 ], "object_category": "picture", "info": { "geodesic_distance": 28.33702, "euclidean_distance": 26.38491, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.18495, 0.18397, 27.6071 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A16K7X677N4WN6:35DR22AR5FNDZGBBFB3BP26IF4VX3B", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -13.68481, -0.01603, 4.52376 ], "start_rotation": [ 0, 0.3048, 0, -0.95242 ], "object_category": "stool", "info": { "geodesic_distance": 10.75146, "euclidean_distance": 10.12067, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.76729, 0.18397, 0.12605 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3QL2OFSM98LW0MTQ6YR3K3JEJ08NCJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.3747, 0.25842, -3.04217 ], "start_rotation": [ 0, 0.129, 0, -0.99164 ], "object_category": "table", "info": { "geodesic_distance": 10.18526, "euclidean_distance": 9.17889, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -15.63503, 0.03894, 5.81797 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A16K7X677N4WN6:3HUTX6F6VWQ1KP10AK2ANFAXXMRO2N", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.31817, 0.18397, -0.80148 ], "start_rotation": [ 0, 0.98133, 0, 0.19234 ], "object_category": "stool", "info": { "geodesic_distance": 13.04964, "euclidean_distance": 3.62254, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.77076, 0.18397, 0.09092 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0" ], "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A1P3HHEXWNLJMP:3RSDURM96CP59JHI9R69R7HO91XYEW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -5.71129, 0.08643, 8.33732 ], "start_rotation": [ 0, 0.36272, 0, 0.9319 ], "object_category": "chair", "info": { "geodesic_distance": 1.69463, "euclidean_distance": 1.10318, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.7072, -0.01603, 8.97614 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "37f62db110c94798b2eec3c180d2fa39", "path": [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:3CPLWGV3MQ2U2OMNUEHCIDI6DDX9NC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.27867, -0.01603, -3.26098 ], "start_rotation": [ 0, 0.76302, 0, -0.64638 ], "object_category": "sofa", "info": { "geodesic_distance": 6.72314, "euclidean_distance": 5.86228, "closest_goal_object_id": 48, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 0.11022, 0.18397, -8.90609 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A3FSDH6HUZPNQ8:37UEWGM5HVBXSHBKJ8J0CR5XG081RX", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -4.41307, -0.01603, 8.41245 ], "start_rotation": [ 0, 0.88284, 0, -0.46967 ], "object_category": "sofa", "info": { "geodesic_distance": 9.42574, "euclidean_distance": 8.12764, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.46788, -0.01603, 6.80122 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "37f62db110c94798b2eec3c180d2fa39", "path": [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A3RR85PK3AV9TU:3KIBXJ1WD7XW155QZQ8ENBWREGPKO5", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -7.73317, -0.01603, -6.39877 ], "start_rotation": [ 0, 0.21277, 0, -0.9771 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.37291, "euclidean_distance": 8.95649, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.23773, 0.05769, -0.20307 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", "path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A1ATL3G98SFW4V:33JKGHPFYEX9985HJNLHNZOQEKJMNK", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 10.4861, 0.18397, 43.33942 ], "start_rotation": [ 0, 0.77442, 0, 0.63268 ], "object_category": "picture", "info": { "geodesic_distance": 18.39556, "euclidean_distance": 15.25421, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.52661, 0.18397, 29.39175 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "AVASQBFN6J692:3SNLUL3WO6Q2YG75GCWO1H1VMANLU8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -4.23497, -0.01603, 1.9123 ], "start_rotation": [ 0, 0.86383, 0, -0.50378 ], "object_category": "sofa", "info": { "geodesic_distance": 8.88092, "euclidean_distance": 8.12976, "closest_goal_object_id": 38, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -7.63437, -0.01603, -5.57266 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", "path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ] }, { "episode_id": "A16K7X677N4WN6:37Q970SNZGB9TWBXYXJ521AT2521S2", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.16436, 0.18397, 44.86461 ], "start_rotation": [ 0, 0.46321, 0, 0.88625 ], "object_category": "picture", "info": { "geodesic_distance": 18.15631, "euclidean_distance": 16.12667, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.46631, 0.18397, 29.31126 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_87_newN_2", "path": [ "0_edge_87_newN_2", "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_87_newN_2", "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "0_edge_87_newN_2", "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2" ], "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A1P3HHEXWNLJMP:32EYX73OY2CD1E2ILWTKNTAUS2KURF", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.53153, 0.18397, -0.48502 ], "start_rotation": [ 0, 0.92962, 0, -0.36852 ], "object_category": "chair", "info": { "geodesic_distance": 5.95854, "euclidean_distance": 5.12147, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.94098, 0.18397, 4.66661 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "A33VGSEJ44ORMF:34J10VATJH18GMSIE0F6Z0CE2L8IQ7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.17805, -0.01603, -4.48664 ], "start_rotation": [ 0, 0.93062, 0, -0.36598 ], "object_category": "table", "info": { "geodesic_distance": 2.12294, "euclidean_distance": 2.00402, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.57678, 0.18397, -6.44548 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", "path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "A16K7X677N4WN6:37KGEN7NJ5TFXWE7RIQ18SNGI06PPH", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.39134, -0.01603, 0.5285 ], "start_rotation": [ 0, 0.95941, 0, -0.28202 ], "object_category": "table", "info": { "geodesic_distance": 5.68996, "euclidean_distance": 4.647, "closest_goal_object_id": 51, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.20555, -0.01603, -2.28857 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_11_newN_1", "path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "0_edge_32_newN_2", "c0a8647aead54f7295512181bac0440e" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ], "c0a8647aead54f7295512181bac0440e", [ "deb943d89d2a44ce8850edec3c7308f9" ] ] }, { "episode_id": "A3NFGEUZAH9V5G:3TR2532VIRXB1FT4H9M85WANFYG6J3", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.19788, 0.18397, 24.40374 ], "start_rotation": [ 0, 0.54382, 0, -0.8392 ], "object_category": "chair", "info": { "geodesic_distance": 15.68127, "euclidean_distance": 14.86185, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.84815, -0.01603, 9.92666 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d" ] }, { "episode_id": "A3V2XCDF45VN9X:34X6J5FLPV14BXCOWI06B1REEXCQJZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.14782, 0.18397, 27.5409 ], "start_rotation": [ 0, 0.92375, 0, -0.38299 ], "object_category": "chair", "info": { "geodesic_distance": 16.32477, "euclidean_distance": 13.86048, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.93089, 0.18397, 40.93056 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "c0a8647aead54f7295512181bac0440e" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e" ] }, { "episode_id": "A221PNPQRV4FC4:3WZ36BJEV5JBLU64PUHKIIJOR28BTQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.21286, 0.18397, 24.78574 ], "start_rotation": [ 0, 0.49789, 0, 0.86724 ], "object_category": "table", "info": { "geodesic_distance": 20.81075, "euclidean_distance": 17.86166, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.45195, 0.18397, 41.35841 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d" ], "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "A3V2XCDF45VN9X:3U5JL4WY5MCYHCUFFP8UZ7YOT23X44", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.85055, -0.01603, 1.39589 ], "start_rotation": [ 0, 0.86568, 0, -0.50059 ], "object_category": "sofa", "info": { "geodesic_distance": 6.281, "euclidean_distance": 5.94882, "closest_goal_object_id": 37, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.20312, -0.01603, -3.34606 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", "path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "refined_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:33LK57MYLV86OSW568SXUVU5FJBSZC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.20101, 0.18397, 0.52777 ], "start_rotation": [ 0, 0.78564, 0, -0.61868 ], "object_category": "chair", "info": { "geodesic_distance": 4.8968, "euclidean_distance": 4.08018, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.86702, 0.18397, 4.61565 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_110_newN_0", "path": [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ], "refined_path": [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0" ], "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3KV0LJBBH4OUO6X9CU2YWJT0FG9RMC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -14.22952, -0.01603, 6.09653 ], "start_rotation": [ 0, 0.66057, 0, -0.75077 ], "object_category": "sofa", "info": { "geodesic_distance": 1.36531, "euclidean_distance": 1.23413, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -13.08891, -0.01603, 6.67252 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "deb943d89d2a44ce8850edec3c7308f9", "path": [ "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "refined_path": [ "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", [ "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ] }, { "episode_id": "AIOOOO5OXWXKM:3MD9PLUKKKH98F40YCBBV1KZSJ5NZV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.47241, -0.01603, 1.67129 ], "start_rotation": [ 0, 0.13748, 0, -0.9905 ], "object_category": "chair", "info": { "geodesic_distance": 1.65083, "euclidean_distance": 1.65083, "closest_goal_object_id": 46, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -8.97642, -0.01603, 0.90605 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", "path": [ "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ], "refined_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3VZLGYJEYNDEK9I40IYKT3BXUW4ZXE", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.54448, 9e-05, -1.99385 ], "start_rotation": [ 0, 0.62481, 0, -0.78077 ], "object_category": "chair", "info": { "geodesic_distance": 7.21804, "euclidean_distance": 5.47467, "closest_goal_object_id": 55, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.11233, -0.01603, -4.62613 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", [ "f40bd40958c84aff92ba792033933f3d" ], "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ] }, { "episode_id": "A2MCG5W6LHSRG9:3IJXV6UZ1ZM8SN7IRF464QMJY75RIC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.1329, -0.01603, -0.64594 ], "start_rotation": [ 0, 0.97715, 0, 0.21254 ], "object_category": "chair", "info": { "geodesic_distance": 5.30808, "euclidean_distance": 4.73638, "closest_goal_object_id": 55, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.15495, -0.01603, -4.87816 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", [ "9777c924f783428ca832493cef2b5259" ], "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "A2MCG5W6LHSRG9:39L1G8WVWSU59FQI8II4UT2HAOD31K", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.11125, 0.18397, 25.38496 ], "start_rotation": [ 0, 0.29367, 0, 0.95591 ], "object_category": "chair", "info": { "geodesic_distance": 16.91602, "euclidean_distance": 15.61835, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.88049, -0.01603, 10.027 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:36DSNE9QZ711QLZ8H582MWWEZS1OJO", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.13014, -0.01603, -0.57604 ], "start_rotation": [ 0, 0.88447, 0, 0.4666 ], "object_category": "cabinet", "info": { "geodesic_distance": 12.46084, "euclidean_distance": 11.00393, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.1779, 0.08084, 0.0963 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "44d33d6e1d08491bbbbefbbdf4153521", "path": [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2ZZW6KME1FUDU:3VP0C6EFSIZ12NZPK6Z0LO24IPJ6M8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.43171, 0.18397, -1.7487 ], "start_rotation": [ 0, 0.84614, 0, -0.53296 ], "object_category": "sofa", "info": { "geodesic_distance": 7.64356, "euclidean_distance": 7.0599, "closest_goal_object_id": 32, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -21.11902, 0.18397, 5.39094 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", "path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "refined_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ] }, { "episode_id": "A2L26DMSVUEDP6:34Q075JO1ZG9SNRLPV0LSV4A7CT01M", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.63157, 0.18397, 5.29549 ], "start_rotation": [ 0, 0.54741, 0, -0.83686 ], "object_category": "table", "info": { "geodesic_distance": 4.96744, "euclidean_distance": 4.45528, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.31724, 0.03543, 6.28097 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_32_newN_2", "path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2" ], "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", [ "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ], "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A21ZK49H9LSSRY:3IHR8NYAM94T83SOTYYD5UCLR04P4C", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.44968, -0.01603, -1.0165 ], "start_rotation": [ 0, 0.87423, 0, 0.48552 ], "object_category": "cabinet", "info": { "geodesic_distance": 11.91689, "euclidean_distance": 10.72028, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.00703, 0.02742, 0.08887 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "44d33d6e1d08491bbbbefbbdf4153521", "path": [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A16K7X677N4WN6:3AAJC4I4FIVDPPDFJEJJ2U3IJYPZJQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 9.49219, 0.18397, 44.33563 ], "start_rotation": [ 0, 0.00773, 0, -0.99997 ], "object_category": "picture", "info": { "geodesic_distance": 17.44293, "euclidean_distance": 15.83144, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.61734, 0.18397, 29.43023 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_84_newN_4", "path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "ACM3TPZKLE7WC:3DIP6YHAPEVQUDQ0WN8FSUTMFEC8ET", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.17091, -0.01603, -5.46236 ], "start_rotation": [ 0, 0.11474, 0, 0.9934 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.65013, "euclidean_distance": 7.27721, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.12004, 0.01325, -0.21584 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_1_newN_0", "path": [ "0_edge_1_newN_0", "d260eaeca5694719868f318ab468be27", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "ee62dcd77a3446028da94a7b93a2afe7", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_1_newN_0", "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_1_newN_0", "d260eaeca5694719868f318ab468be27", [ "0_edge_1_newN_0" ], "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ee62dcd77a3446028da94a7b93a2afe7", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0" ], "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2L26DMSVUEDP6:323Q6SJS8KJBT2RPU2MRNP7LU33HFV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.36514, -0.01603, 10.62573 ], "start_rotation": [ 0, 0.91284, 0, -0.40832 ], "object_category": "sofa", "info": { "geodesic_distance": 13.14723, "euclidean_distance": 11.64467, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.34486, -0.01603, 6.73081 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "854ce53825a347bba52684d20cca190b", "path": [ "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "0_edge_1_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", [ "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b" ], "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", [ "1611d119a70b46869c6e12117aa71972" ], "0_edge_1_newN_0" ] }, { "episode_id": "A221PNPQRV4FC4:3EQHHY4HQUV5R93P4KR0GD47Q70G5W", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.51033, -0.01603, 8.32429 ], "start_rotation": [ 0, 0.87269, 0, 0.48828 ], "object_category": "sofa", "info": { "geodesic_distance": 10.85916, "euclidean_distance": 9.99078, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.452, -0.01603, 6.75484 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "3875b9ad36924b869985fed0412bc926", "path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A3RR85PK3AV9TU:3QRYMNZ7F0KDM3V1SKMT9DJI7KUTNQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.64672, 0.18397, 4.60125 ], "start_rotation": [ 0, 0.90391, 0, 0.42773 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.06954, "euclidean_distance": 2.85779, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.77583, 0.10919, 1.84047 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", "path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3TN1QCPUCJZBF:3YMU66OBIPBH72NK5MS95A7XVH1HGQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.9789, 0.0478, 14.24808 ], "start_rotation": [ 0, 0.48203, 0, -0.87616 ], "object_category": "sofa", "info": { "geodesic_distance": 16.17503, "euclidean_distance": 13.5771, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.47665, -0.01603, 6.7968 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "8e489f8b8bc5448b9410a41faa216021", "path": [ "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021" ], "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A19C2SO0IMRZ1L:3X4JMASXCOCA5L9DRSTAY7HJTO30BO", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -16.23894, 0.1507, 0.3643 ], "start_rotation": [ 0, 0.59845, 0, 0.80116 ], "object_category": "chair", "info": { "geodesic_distance": 4.82783, "euclidean_distance": 4.54228, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.90362, 0.18397, 4.63151 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "14c540221298447da11bf71477d7fbf1", "path": [ "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ], "refined_path": [ "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", [ "c0a8647aead54f7295512181bac0440e" ] ] }, { "episode_id": "A2MCG5W6LHSRG9:3HL8HNGX474IEW96WQYZA89XBMBF9B", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.12614, -0.01603, -4.73031 ], "start_rotation": [ 0, 0.8304, 0, -0.55717 ], "object_category": "sofa", "info": { "geodesic_distance": 5.38682, "euclidean_distance": 4.76077, "closest_goal_object_id": 48, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 0.09276, 0.18397, -9.0456 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", "path": [ "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", [ "63ac2b2ef1e0457385976d17655da263", "5fb26cecda204c40ae520fbda21ce82e" ], "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ] }, { "episode_id": "A3RR85PK3AV9TU:3G2UL9A02FHIHKS2G0XB265EN1767I", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.83783, -0.01603, -4.60638 ], "start_rotation": [ 0, 0.80688, 0, -0.59071 ], "object_category": "table", "info": { "geodesic_distance": 3.49625, "euclidean_distance": 2.88828, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.58995, 0.09055, -6.23744 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", [ "9777c924f783428ca832493cef2b5259" ] ] }, { "episode_id": "A33VGSEJ44ORMF:3V5Q80FXIZUCY08ERMIIZCCM2QP23Q", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.45582, -0.01603, -4.74719 ], "start_rotation": [ 0, 0.14018, 0, 0.99013 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.45463, "euclidean_distance": 5.30736, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.22507, 0.05618, -0.18261 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "d260eaeca5694719868f318ab468be27", "path": [ "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", [ "d260eaeca5694719868f318ab468be27" ], "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", [ "44d33d6e1d08491bbbbefbbdf4153521" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0" ], "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3COPXFW7XDFEM5HREQLTCB1HOLLPKR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.92071, -0.01603, -0.78361 ], "start_rotation": [ 0, 0.82329, 0, -0.56762 ], "object_category": "cabinet", "info": { "geodesic_distance": 14.03258, "euclidean_distance": 13.22188, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.08239, 0.04445, 0.08378 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3018Q3ZVOKTTM5OKFRCTNSY0KWMAR6", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -13.18512, -0.01603, -1.64701 ], "start_rotation": [ 0, 0.33897, 0, -0.9408 ], "object_category": "sofa", "info": { "geodesic_distance": 1.49051, "euclidean_distance": 1.43077, "closest_goal_object_id": 37, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.30241, 0.07817, -2.61575 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", "path": [ "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A3RR85PK3AV9TU:37FMASSAYEULCGQTVIIG4BHFFE0IB9", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -22.12716, 0.18397, -0.83501 ], "start_rotation": [ 0, 0.27297, 0, 0.96202 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.12423, "euclidean_distance": 5.95286, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.78057, 0.10974, 1.84834 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", "path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3MD9PLUKKKH98F40YCBBV1KZSJ0ZN2", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.94379, 0.18397, 23.67718 ], "start_rotation": [ 0, 0.29632, 0, 0.95509 ], "object_category": "table", "info": { "geodesic_distance": 20.54307, "euclidean_distance": 18.95627, "closest_goal_object_id": 103, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.16207, -0.01603, 4.89693 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "AIIOT9A7ARQZW:3YHH42UU5DIMIUVPI5I4CADO6QO0LZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.48196, 0.22614, -2.57867 ], "start_rotation": [ 0, 0.79164, 0, 0.61099 ], "object_category": "stool", "info": { "geodesic_distance": 15.10526, "euclidean_distance": 5.99057, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.81024, 0.18397, 0.12356 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", [ "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A101U3FTZYY87V:35DR22AR5FNDZGBBFB3BP26IFY8X3C", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -13.56115, -0.01603, -1.50133 ], "start_rotation": [ 0, 0.99952, 0, 0.03102 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.5033, "euclidean_distance": 1.44619, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.10788, 0.00753, -0.22477 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", "path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2MCG5W6LHSRG9:30X31N5D65T5NKOXUGCYD23W6UHSAG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.20037, 0.18397, 22.83359 ], "start_rotation": [ 0, 0.52214, 0, 0.85286 ], "object_category": "cabinet", "info": { "geodesic_distance": 28.27997, "euclidean_distance": 27.43128, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.1435, 0.17005, 0.77606 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A33VGSEJ44ORMF:3GU1KF0O4K4DT2DX8D80D8IR2Z0PBC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.48467, 0.18397, 24.52963 ], "start_rotation": [ 0, 0.97548, 0, -0.22007 ], "object_category": "table", "info": { "geodesic_distance": 20.2676, "euclidean_distance": 17.84861, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.33229, 0.18397, 41.41082 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0_edge_59_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", [ "544ccad03803403c97721228e7cc9669" ], "0_edge_59_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3PH3VY7DJN0ZV9DEQD2YRKXQLSSWZ8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.55372, 0.18397, 3.55723 ], "start_rotation": [ 0, 0.51943, 0, -0.85451 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.03649, "euclidean_distance": 3.21319, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.76883, 0.10839, 1.90676 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_136_newN_2", "path": [ "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3FE2ERCCZZBXCW26CIDMJSIQ8VTPOJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.57138, -0.01603, 5.08607 ], "start_rotation": [ 0, 0.72866, 0, 0.68487 ], "object_category": "picture", "info": { "geodesic_distance": 28.42762, "euclidean_distance": 26.96339, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.99737, 0.18397, 27.73292 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", "path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A34CQE6RGU49L7:3LOZAJ85YFGOEYFSBBP66S1Q9PJ2XR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.65004, 0.18397, 26.15637 ], "start_rotation": [ 0, 0.78994, 0, -0.61319 ], "object_category": "table", "info": { "geodesic_distance": 18.88374, "euclidean_distance": 16.04034, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.42787, 0.18397, 41.37741 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "A16K7X677N4WN6:3HFNH7HEMJHUKVMNOCF3EOZYN9JGQI", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.27434, -0.01603, 4.53269 ], "start_rotation": [ 0, 0.87663, 0, 0.48116 ], "object_category": "stool", "info": { "geodesic_distance": 15.15575, "euclidean_distance": 14.22916, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.73864, 0.18397, 0.06898 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", "path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A1P3HHEXWNLJMP:3HHRAGRYXA8CK9MZVTHPX2IB3P5O9D", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.025, 0.18397, 10.59766 ], "start_rotation": [ 0, 0.35362, 0, -0.93539 ], "object_category": "table", "info": { "geodesic_distance": 6.62531, "euclidean_distance": 5.71783, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.52447, 0.15096, 7.12884 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_98_newN_2", "path": [ "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "AZPZDX26SYMFY:3WI0P0II63VRKCRWZ13VDT66610RDB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.90848, 0.18397, 44.87143 ], "start_rotation": [ 0, 0.79589, 0, -0.60544 ], "object_category": "picture", "info": { "geodesic_distance": 19.2273, "euclidean_distance": 16.45192, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.54974, 0.18397, 29.47418 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "2e1d19c78bc74e1cb4a13927c3050e14", "path": [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "ACM3TPZKLE7WC:3R8YZBNQ9JLBR2BMV9B98BM5N2TQ79", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -16.97117, 0.19667, -2.90732 ], "start_rotation": [ 0, 0.9318, 0, 0.36297 ], "object_category": "sofa", "info": { "geodesic_distance": 10.6276, "euclidean_distance": 9.43325, "closest_goal_object_id": 49, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.53962, 0.04512, 6.46751 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", [ "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ] }, { "episode_id": "A21ZK49H9LSSRY:3R6P78PK7ME7CBEF5G9YJTAL68AGT7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.81378, 0.18397, 25.03612 ], "start_rotation": [ 0, 0.4459, 0, -0.89509 ], "object_category": "sofa", "info": { "geodesic_distance": 27.37077, "euclidean_distance": 21.51613, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.29332, -0.01603, 6.78137 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3WQQ9FUS6CXSNAEGMW6PRMN1CHZB8W", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.81032, 0.18397, 0.65753 ], "start_rotation": [ 0, 0.7831, 0, -0.62189 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.70254, "euclidean_distance": 5.13237, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.75727, 0.10707, 1.76874 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", "path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:37UEWGM5HVBXSHBKJ8J0CR5XH5WR1M", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.58536, 0.39749, -2.88874 ], "start_rotation": [ 0, 0.69766, 0, -0.71643 ], "object_category": "chair", "info": { "geodesic_distance": 8.58577, "euclidean_distance": 7.67749, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.86902, 0.18397, 4.65692 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", [ "87870f8cba81492b8ef631196a2f6560" ], "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d" ] }, { "episode_id": "A9K0CV70JWG1W:3QY7M81QH9PPGZDRI4RCCPAWPZPK76", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.23073, 0.18397, 8.60845 ], "start_rotation": [ 0, 0.99187, 0, -0.12725 ], "object_category": "table", "info": { "geodesic_distance": 2.4825, "euclidean_distance": 2.28858, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.54815, 0.16428, 7.17066 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "c0a8647aead54f7295512181bac0440e", "path": [ "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A16K7X677N4WN6:3Z7VU45IP0K6U8XBTPDDYU7WPKFZ1I", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 8.74089, 0.18397, 42.40647 ], "start_rotation": [ 0, 0.99891, 0, -0.04666 ], "object_category": "picture", "info": { "geodesic_distance": 17.13718, "euclidean_distance": 13.76394, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.42321, 0.18397, 29.26122 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A221PNPQRV4FC4:30BUDKLTXFY77V7YYP1CGAJVEWB5E5", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.63446, 0.18397, 23.77193 ], "start_rotation": [ 0, 0.39036, 0, 0.92066 ], "object_category": "sofa", "info": { "geodesic_distance": 26.74778, "euclidean_distance": 23.27164, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.44801, -0.01603, 6.92741 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", "path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A16K7X677N4WN6:3K2755HG5U6UHMMN8631W4SN2CKDFU", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -7.50635, -0.01603, 2.92536 ], "start_rotation": [ 0, 0.36733, 0, 0.93009 ], "object_category": "stool", "info": { "geodesic_distance": 17.01398, "euclidean_distance": 15.55558, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.79746, 0.18397, 0.08052 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", "path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A16K7X677N4WN6:3EA3QWIZ4KYL82KAV49145N1LP7TIP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.25631, 0.18397, 26.89081 ], "start_rotation": [ 0, 0.8438, 0, -0.53666 ], "object_category": "chair", "info": { "geodesic_distance": 15.17432, "euclidean_distance": 14.24243, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.91385, 0.18397, 40.82479 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", "path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ], "refined_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3A4TN5196ML4QQ7F30WQFJMIXQNHCW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.33754, -0.01603, -3.56716 ], "start_rotation": [ 0, 0.91161, 0, 0.41105 ], "object_category": "sofa", "info": { "geodesic_distance": 2.65171, "euclidean_distance": 2.02913, "closest_goal_object_id": 38, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -7.5066, -0.01603, -5.54619 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "9777c924f783428ca832493cef2b5259", "path": [ "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "d260eaeca5694719868f318ab468be27" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "d260eaeca5694719868f318ab468be27" ], "refined_path": [ "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "d260eaeca5694719868f318ab468be27" ] }, { "episode_id": "AIIOT9A7ARQZW:3SITXWYCNXCI2BFOU4IH7L4U4Y0BXD", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.66567, -0.01603, 0.79877 ], "start_rotation": [ 0, 0.99997, 0, 0.00828 ], "object_category": "stool", "info": { "geodesic_distance": 26.41391, "euclidean_distance": 24.48696, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.78836, 0.18397, 0.15106 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A35NXCD0VE2I69:3TXD01ZLD6K6080KAKX7F0ZK0NK4UO", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.16322, -0.00517, -1.80903 ], "start_rotation": [ 0, 0.83234, 0, -0.55426 ], "object_category": "table", "info": { "geodesic_distance": 3.65011, "euclidean_distance": 3.37871, "closest_goal_object_id": 103, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 1.61734, -0.01603, 1.46906 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0_edge_59_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", [ "544ccad03803403c97721228e7cc9669" ], "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d" ], "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:36V4Q8R5ZM3UC5I9ZFDYRTJVIPSQMK", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 12.51795, 0.18397, 42.624 ], "start_rotation": [ 0, 0.95443, 0, 0.29844 ], "object_category": "picture", "info": { "geodesic_distance": 20.51948, "euclidean_distance": 15.54776, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.60744, 0.18397, 29.39722 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "122154d283494710ae5e592fc99bf8e1", "path": [ "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "deb943d89d2a44ce8850edec3c7308f9", "c835bc9904a846ce88571c2ee3557af0", "14c540221298447da11bf71477d7fbf1", "0_edge_3_newN_0", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "171278a4cf64429d9ab2df21adcc60d8" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "deb943d89d2a44ce8850edec3c7308f9", [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "c835bc9904a846ce88571c2ee3557af0", [ "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "0_edge_3_newN_0", [ "87870f8cba81492b8ef631196a2f6560" ], "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", [ "9777c924f783428ca832493cef2b5259" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", [ "5fb26cecda204c40ae520fbda21ce82e" ], "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e" ], "171278a4cf64429d9ab2df21adcc60d8", [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] ] }, { "episode_id": "A21ZK49H9LSSRY:3DQQ64TANIO5H5B8344W0MVCC0BPWL", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.43214, 0.18397, 26.38098 ], "start_rotation": [ 0, 0.96502, 0, -0.26217 ], "object_category": "chair", "info": { "geodesic_distance": 17.65639, "euclidean_distance": 16.7295, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.94594, -0.01603, 9.9367 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", [ "171278a4cf64429d9ab2df21adcc60d8" ], "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0" ], "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", [ "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa" ], "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A2MCG5W6LHSRG9:3YGXWBAF72KAEEJKOTC7LUDESJ5C45", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 6.42522, 0.18397, 46.04047 ], "start_rotation": [ 0, 0.94228, 0, 0.33483 ], "object_category": "chair", "info": { "geodesic_distance": 1.72283, "euclidean_distance": 1.53714, "closest_goal_object_id": 250, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 7.40267, 0.18397, 44.83876 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0db658dc49514ca18be7b44ceb363849", "path": [ "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "0_edge_59_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "0_edge_59_newN_1" ], "refined_path": [ "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "0_edge_59_newN_1" ] }, { "episode_id": "A1ATL3G98SFW4V:3V0Z7YWSI03WA9AXBWOOI745TCV2V4", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.47234, -0.01603, 5.04661 ], "start_rotation": [ 0, 0.52576, 0, -0.85064 ], "object_category": "chair", "info": { "geodesic_distance": 3.58045, "euclidean_distance": 2.49401, "closest_goal_object_id": 89, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -9.54692, -0.01603, 6.75667 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0_edge_59_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", [ "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", [ "544ccad03803403c97721228e7cc9669" ], "0_edge_59_newN_1" ] }, { "episode_id": "A2MCG5W6LHSRG9:38F71OA9GVZXLGS0LZ24FUFHBPWMF3", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.31776, 0.18397, 25.49517 ], "start_rotation": [ 0, 0.84423, 0, 0.53598 ], "object_category": "chair", "info": { "geodesic_distance": 16.76755, "euclidean_distance": 15.89126, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.05992, -0.01603, 9.95861 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "0_edge_45_newN_0", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "44d33d6e1d08491bbbbefbbdf4153521", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", [ "063eee6149194f3abc6f297e290068fa" ], "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", [ "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560" ], "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_45_newN_0", [ "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9" ], "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A1ATL3G98SFW4V:3TPWUS5F8B4MNG24YZIQGMW5CCHWCO", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.89901, 0.32391, -3.16414 ], "start_rotation": [ 0, 0.82771, 0, 0.56115 ], "object_category": "chair", "info": { "geodesic_distance": 8.70019, "euclidean_distance": 7.82683, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.79565, 0.18397, 4.64479 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "AIOOOO5OXWXKM:3IX2EGZR7DM4NYRO9XP6GR1JAH4RJN", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.60248, 0.18397, 25.11922 ], "start_rotation": [ 0, 0.46987, 0, -0.88274 ], "object_category": "chair", "info": { "geodesic_distance": 17.4848, "euclidean_distance": 15.14834, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.82081, -0.01603, 10.03158 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A16K7X677N4WN6:3IOEN3P9S9M46YD0RKG21WE1KDL16Q", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 9.73746, 0.18397, 43.29828 ], "start_rotation": [ 0, 0.70556, 0, 0.70865 ], "object_category": "picture", "info": { "geodesic_distance": 17.66103, "euclidean_distance": 14.93615, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.49464, 0.18397, 29.22976 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A3RR85PK3AV9TU:3ZQIG0FLQGJIMP84PGDV6EKUXKWVWN", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.43893, 0.18397, -1.88517 ], "start_rotation": [ 0, 0.77914, 0, 0.62685 ], "object_category": "table", "info": { "geodesic_distance": 9.5032, "euclidean_distance": 8.05986, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -15.52212, 0.03701, 5.80445 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:31LM9EDVONVJ80ZWGQ8P77W99ITJN1", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.15695, -0.01603, -2.098 ], "start_rotation": [ 0, 0.99484, 0, -0.10148 ], "object_category": "cabinet", "info": { "geodesic_distance": 19.63759, "euclidean_distance": 17.40697, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.19908, 0.08291, 0.05898 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", [ "f40bd40958c84aff92ba792033933f3d" ], "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3M1CVSFP628TA49K2CNTI2OVOA0QA1", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.69131, 0.08611, -5.66033 ], "start_rotation": [ 0, 0.62664, 0, -0.77931 ], "object_category": "table", "info": { "geodesic_distance": 1.34224, "euclidean_distance": 1.14518, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.61238, 0.14049, -6.34603 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", "path": [ "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "refined_path": [ "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3R08VXYT7EYGBZ787IAF004RC577WW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 12.06901, 0.18397, 41.41499 ], "start_rotation": [ 0, 0.11349, 0, -0.99354 ], "object_category": "picture", "info": { "geodesic_distance": 20.48555, "euclidean_distance": 14.28302, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.52631, 0.18397, 29.4819 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "122154d283494710ae5e592fc99bf8e1", "path": [ "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", [ "5fb68178835247328ebd444ea4207d64" ], "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A1P3HHEXWNLJMP:37ZHEEHM6YPJK15KXYZDV3TUED873N", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 12.03662, 0.18397, 43.87628 ], "start_rotation": [ 0, 0.94214, 0, 0.33523 ], "object_category": "picture", "info": { "geodesic_distance": 19.92376, "euclidean_distance": 16.40417, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.57615, 0.18397, 29.43655 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", "path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "AZPZDX26SYMFY:3S4AW7T80DL3HIDQ1656OD31NX94LE", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.40756, 0.18397, 27.47105 ], "start_rotation": [ 0, 0.97169, 0, -0.23627 ], "object_category": "picture", "info": { "geodesic_distance": 2.86448, "euclidean_distance": 2.54051, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.93968, 0.18397, 27.68059 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", [ "9baaef79e7484c8e9929f78df52fc3df" ], "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", [ "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] ] }, { "episode_id": "A3RR85PK3AV9TU:3GNA64GUZG7W4YX37GWCAR89XZ4Q57", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 14.50014, 0.18397, 42.98717 ], "start_rotation": [ 0, 0.9607, 0, 0.27758 ], "object_category": "picture", "info": { "geodesic_distance": 22.60991, "euclidean_distance": 16.95197, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.55004, 0.18397, 29.24168 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_22_newN_1", "0_edge_59_newN_1", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", [ "5fb68178835247328ebd444ea4207d64" ], "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", [ "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669" ], "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A9K0CV70JWG1W:3JJVG1YBED090SVEOYZMF2DABYCB5N", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 8.73125, 0.18397, 44.80823 ], "start_rotation": [ 0, 0.73323, 0, 0.67998 ], "object_category": "picture", "info": { "geodesic_distance": 16.89099, "euclidean_distance": 16.06177, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.48089, 0.18397, 29.32959 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_84_newN_4", "path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", [ "0_edge_84_newN_4" ], "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A1P3HHEXWNLJMP:3PMBY0YE296BBKPW5O8Y22OUFGY9CO", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.96083, 0.18397, 0.19544 ], "start_rotation": [ 0, 0.86112, 0, -0.50839 ], "object_category": "chair", "info": { "geodesic_distance": 6.74865, "euclidean_distance": 4.86378, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.73413, 0.18397, 4.69162 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad" ] }, { "episode_id": "A33VGSEJ44ORMF:32RIADZISU7QLV8GLF270ZHWEKKS44", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -12.44238, -0.01603, -3.35477 ], "start_rotation": [ 0, 0.67373, 0, -0.73897 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.87951, "euclidean_distance": 3.6075, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.08029, 0.00504, -0.17472 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_3_newN_1", "path": [ "0_edge_3_newN_1", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_3_newN_1", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_3_newN_1", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", [ "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3NS0A6KXC6B3YNNEB8YG5HB2SBYZGN", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -22.07488, 0.18397, -0.39702 ], "start_rotation": [ 0, 0.09, 0, -0.99594 ], "object_category": "sofa", "info": { "geodesic_distance": 6.00195, "euclidean_distance": 5.77505, "closest_goal_object_id": 32, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -21.06277, 0.18397, 5.20529 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", "path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "0_edge_111_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2" ], "refined_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_111_newN_2" ] }, { "episode_id": "A2L26DMSVUEDP6:3XIQGXAUMEBV0ZCYHN612JIYL8L7XZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.67442, -0.01603, 4.87136 ], "start_rotation": [ 0, 0.61194, 0, 0.7909 ], "object_category": "picture", "info": { "geodesic_distance": 28.58199, "euclidean_distance": 27.1996, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.11842, 0.18397, 27.54261 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", "path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "35e62dc086ba4cd598a30fd3ec926a18", "c0a8647aead54f7295512181bac0440e", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", [ "2ad491d5db914f9689bfec52a694dd18" ], "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", [ "87870f8cba81492b8ef631196a2f6560" ], "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e", [ "deb943d89d2a44ce8850edec3c7308f9" ], "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da" ], "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", [ "a66ff11e61dd489994fba110d257025e" ], "171278a4cf64429d9ab2df21adcc60d8", [ "063eee6149194f3abc6f297e290068fa" ], "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", [ "9baaef79e7484c8e9929f78df52fc3df" ] ] }, { "episode_id": "AIIOT9A7ARQZW:3BEFOD78W8WNN0VB1I6LOQIQN6E4M3", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.17569, 0.18397, 7.50057 ], "start_rotation": [ 0, 0.69724, 0, -0.71683 ], "object_category": "stool", "info": { "geodesic_distance": 9.46041, "euclidean_distance": 8.19594, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.63331, 0.18397, 0.19534 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "c0a8647aead54f7295512181bac0440e", "path": [ "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", [ "c0a8647aead54f7295512181bac0440e" ], "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A75XDPFNICR3T:3GA6AFUKOQRGDQBWA7LPMGIORCJ3HR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.76593, -0.01603, -4.15168 ], "start_rotation": [ 0, 0.74644, 0, -0.66545 ], "object_category": "sofa", "info": { "geodesic_distance": 5.7041, "euclidean_distance": 4.88989, "closest_goal_object_id": 48, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 0.16272, 0.18397, -8.94052 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", "path": [ "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", [ "5fb26cecda204c40ae520fbda21ce82e" ], "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A3RR85PK3AV9TU:3NXNZ5RS1C05Z3U0E70NMGWGD0T794", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 11.90725, 0.18397, 43.6479 ], "start_rotation": [ 0, 0.64139, 0, 0.76722 ], "object_category": "picture", "info": { "geodesic_distance": 19.79331, "euclidean_distance": 16.14186, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.57221, 0.18397, 29.26272 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", "path": [ "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", [ "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A16K7X677N4WN6:3EG49X351WFCWZYTYD19W5I2Q15X62", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -6.04659, -0.01603, 3.75418 ], "start_rotation": [ 0, 0.69544, 0, -0.71858 ], "object_category": "stool", "info": { "geodesic_distance": 18.3915, "euclidean_distance": 17.14848, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.74082, 0.18397, 0.11944 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "0_edge_129_newN_0", "path": [ "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A2MCG5W6LHSRG9:3WOKGM4L73JUOFYMVXYW4RHI1QV0O8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.27935, 0.18397, 26.92812 ], "start_rotation": [ 0, 0.10942, 0, 0.994 ], "object_category": "chair", "info": { "geodesic_distance": 18.41539, "euclidean_distance": 17.10977, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.98844, -0.01603, 9.96302 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A272X64FOZFYLB:3DUZQ9U6SORPF8RV5B3U9PH9R6OSVR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.14839, 0.18397, 27.17855 ], "start_rotation": [ 0, 0.14945, 0, 0.98877 ], "object_category": "table", "info": { "geodesic_distance": 21.26448, "euclidean_distance": 16.07633, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.46954, 0.18397, 41.43417 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "AIIOT9A7ARQZW:32KTQ2V7RFIOK61NID2C5YT68SQ9MP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.92507, 0.03046, -5.29336 ], "start_rotation": [ 0, 0.29331, 0, 0.95602 ], "object_category": "stool", "info": { "geodesic_distance": 26.44914, "euclidean_distance": 22.55553, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.75483, 0.18397, 0.13163 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", "path": [ "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A302KOFOYLD89A:39U1BHVTDNU6IZ2RA12E0ZLC23VT32", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.65359, -0.01603, -5.01516 ], "start_rotation": [ 0, 0.38831, 0, -0.92153 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.49248, "euclidean_distance": 5.97726, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.26491, 0.08138, -0.11036 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "d260eaeca5694719868f318ab468be27", "path": [ "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", "0_edge_2_newN_1", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27", "0_edge_2_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", [ "d260eaeca5694719868f318ab468be27" ], "0_edge_2_newN_1", [ "d260eaeca5694719868f318ab468be27" ], "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AIIOT9A7ARQZW:3IHR8NYAM94T83SOTYYD5UCLSBP4PZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -6.83283, -0.01603, -1.78989 ], "start_rotation": [ 0, 0.82458, 0, 0.56575 ], "object_category": "stool", "info": { "geodesic_distance": 19.5996, "euclidean_distance": 16.09842, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.68627, 0.18397, 0.17879 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "f530764ebfa140c7ad68d1cae7e3f8d9", "path": [ "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "ACM3TPZKLE7WC:3KWTYT08726LD1HQFBOGT59FMMW5LX", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.47088, -0.01603, 0.75689 ], "start_rotation": [ 0, 0.85005, 0, -0.5267 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.71461, "euclidean_distance": 5.64729, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.20739, 0.18397, 0.86384 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_11_newN_1", "path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A16K7X677N4WN6:3ND9UOO81M5FQKWABCBPJ5MS6O6WLL", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.82121, -0.01603, 0.95578 ], "start_rotation": [ 0, 0.76184, 0, -0.64776 ], "object_category": "stool", "info": { "geodesic_distance": 22.9593, "euclidean_distance": 21.00702, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.67536, 0.18397, 0.19744 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "44d33d6e1d08491bbbbefbbdf4153521", "path": [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A1P3HHEXWNLJMP:3DR23U6WE7H9SXIOZLJAJQP9TVITEW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.16329, 0.18397, 28.15876 ], "start_rotation": [ 0, 0.99952, 0, -0.03092 ], "object_category": "table", "info": { "geodesic_distance": 19.42808, "euclidean_distance": 14.34151, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.48796, 0.18397, 41.39243 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", [ "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A75XDPFNICR3T:3BV8HQ2ZZY400MQ0N39VCX74PCP6AS", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.57714, 0.18397, 25.85725 ], "start_rotation": [ 0, 0.0638, 0, -0.99796 ], "object_category": "table", "info": { "geodesic_distance": 18.89865, "euclidean_distance": 16.30256, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.37416, 0.18397, 41.40193 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "AIIOT9A7ARQZW:3H7Z272LX9AP6BZ9ZQXURBEWEXQPLJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -5.04331, -0.01603, 1.84079 ], "start_rotation": [ 0, 0.7887, 0, -0.61478 ], "object_category": "stool", "info": { "geodesic_distance": 19.62492, "euclidean_distance": 17.84958, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.81307, 0.18397, 0.09554 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", "path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A2TUUIV61CR0C7:37Q970SNZGB9TWBXYXJ521AT2061SW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.24206, -0.01603, -5.85519 ], "start_rotation": [ 0, 0.81477, 0, -0.57978 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.37273, "euclidean_distance": 6.37776, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.12795, 0.02837, -0.13387 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "d260eaeca5694719868f318ab468be27", "path": [ "d260eaeca5694719868f318ab468be27", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "0_edge_45_newN_0", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d260eaeca5694719868f318ab468be27", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "d260eaeca5694719868f318ab468be27", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_45_newN_0", [ "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9" ], "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A34CQE6RGU49L7:3WR9XG3T65E42XOOXC4W58L0RBI74H", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 8.9498, 0.18397, 43.77259 ], "start_rotation": [ 0, 0.99523, 0, -0.09756 ], "object_category": "picture", "info": { "geodesic_distance": 16.83537, "euclidean_distance": 15.1291, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.54991, 0.18397, 29.39735 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A2KW17G25L25R8:3SPJ0334236DKZ3ANSH0ONUGD5RYJ6", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.55075, 0.18397, 24.86073 ], "start_rotation": [ 0, 0.97615, 0, 0.21711 ], "object_category": "chair", "info": { "geodesic_distance": 17.25763, "euclidean_distance": 14.89591, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.0378, -0.01495, 10.03894 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e" ], "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:3VELCLL3GMM0PR6BSDJ6V2REDFMF1B", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.94155, -0.01603, -0.06479 ], "start_rotation": [ 0, 0.40071, 0, -0.9162 ], "object_category": "stool", "info": { "geodesic_distance": 24.06217, "euclidean_distance": 21.8725, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.80233, 0.18397, 0.14042 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A16K7X677N4WN6:3GD6L00D3U06V1YSE0NJQSBNAGK1MQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.92196, 0.02276, 15.21014 ], "start_rotation": [ 0, 0.9689, 0, -0.24745 ], "object_category": "stool", "info": { "geodesic_distance": 28.84683, "euclidean_distance": 26.56773, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.72057, 0.18397, 0.10452 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "8e489f8b8bc5448b9410a41faa216021", "path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "AIIOT9A7ARQZW:338JKRMM282GXBAHJM0Z9OWUXO8AHV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.03418, 0.13713, 13.43992 ], "start_rotation": [ 0, 0.91483, 0, 0.40383 ], "object_category": "stool", "info": { "geodesic_distance": 27.93456, "euclidean_distance": 26.42779, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.80215, 0.18397, 0.15689 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "8e489f8b8bc5448b9410a41faa216021", "path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A9K0CV70JWG1W:31Q0U3WYDRINAYR5AULU7AEXGT3714", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.20003, 0.18397, 28.53882 ], "start_rotation": [ 0, 0.83624, 0, -0.54837 ], "object_category": "chair", "info": { "geodesic_distance": 18.87095, "euclidean_distance": 13.76597, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.97336, 0.18397, 40.73205 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", [ "a3e731b8c53346cbad60c56777279606" ] ] }, { "episode_id": "A16K7X677N4WN6:3VNXK88KKEL7ATVWW533SUCJZI3V9N", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 12.68643, 0.18397, 41.8767 ], "start_rotation": [ 0, 0.25256, 0, 0.96758 ], "object_category": "picture", "info": { "geodesic_distance": 20.88154, "euclidean_distance": 15.00507, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.4672, 0.18397, 29.26099 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "122154d283494710ae5e592fc99bf8e1", "path": [ "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A1P3HHEXWNLJMP:3RGU30DZTCBDQIEW4PTPUS7950FJME", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 13.56025, 0.18397, 44.30147 ], "start_rotation": [ 0, 0.34236, 0, 0.93957 ], "object_category": "picture", "info": { "geodesic_distance": 21.46909, "euclidean_distance": 17.52255, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.55452, 0.18397, 29.4347 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A3RR85PK3AV9TU:3UN61F00HYSWGZC3KVLCFHIESHS5R0", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.71468, 0.18397, 27.9227 ], "start_rotation": [ 0, 0.68612, 0, -0.72749 ], "object_category": "picture", "info": { "geodesic_distance": 5.03034, "euclidean_distance": 4.64413, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.87439, 0.18397, 27.66533 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A272X64FOZFYLB:3TU5ZICBRF4FRGG55E3FMBI0ZO78QR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.38476, -0.01603, 7.01834 ], "start_rotation": [ 0, 0.95261, 0, -0.30419 ], "object_category": "table", "info": { "geodesic_distance": 6.62711, "euclidean_distance": 5.09411, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.37957, -0.01603, 6.24557 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", "path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432" ], "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "A16K7X677N4WN6:338JKRMM282GXBAHJM0Z9OWUXO0HAU", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.1467, 0.10379, -0.98087 ], "start_rotation": [ 0, 0.99931, 0, 0.03708 ], "object_category": "stool", "info": { "geodesic_distance": 27.28341, "euclidean_distance": 24.98471, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.75843, 0.18397, 0.06159 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A2MCG5W6LHSRG9:38BQUHLA9Y3RRT5TK2LU2OOV3M7MO1", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.12167, 0.18397, 20.59348 ], "start_rotation": [ 0, 0.19106, 0, -0.98158 ], "object_category": "sofa", "info": { "geodesic_distance": 23.72954, "euclidean_distance": 20.69498, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.37166, -0.01603, 6.83229 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3NLZY2D53RSA6N0OZ3CJRG46IIQQL2", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.9541, 0.18397, 3.88368 ], "start_rotation": [ 0, 0.78413, 0, -0.6206 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.30448, "euclidean_distance": 3.72596, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.69596, 0.10007, 1.90517 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "4534a8c9651e4ce891970e43e2724dfe", "path": [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A16184N1RO5OJV:36W0OB37HYHHYJIPVEGYQHN366MHZ4", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.61462, 0.18397, 26.42115 ], "start_rotation": [ 0, 0.70337, 0, -0.71083 ], "object_category": "table", "info": { "geodesic_distance": 18.79173, "euclidean_distance": 15.77781, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.37639, 0.18397, 41.40934 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", [ "c835bc9904a846ce88571c2ee3557af0" ], "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3B837J3LDQZXM1AEWRYK8SS661ISR7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.32818, 0.18397, 28.23774 ], "start_rotation": [ 0, 0.47624, 0, 0.87932 ], "object_category": "table", "info": { "geodesic_distance": 18.66091, "euclidean_distance": 13.96675, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.32049, 0.18397, 41.40745 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0" ] }, { "episode_id": "AIIOT9A7ARQZW:369J354OFFD1AD3393158JI7M56G6D", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.14414, 0.31457, -7.35405 ], "start_rotation": [ 0, 0.95456, 0, -0.29802 ], "object_category": "stool", "info": { "geodesic_distance": 24.72257, "euclidean_distance": 15.59555, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.74967, 0.18397, 0.05681 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", "path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", [ "9777c924f783428ca832493cef2b5259" ], "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A34CQE6RGU49L7:3ZQIG0FLQGJIMP84PGDV6EKUUO5VW1", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.73496, 0.18397, 44.45792 ], "start_rotation": [ 0, 0.42101, 0, -0.90706 ], "object_category": "picture", "info": { "geodesic_distance": 20.09866, "euclidean_distance": 16.35687, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.51665, 0.18397, 29.37685 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_74_newN_1", "path": [ "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", [ "aa3049db9ce543e0bb9456793ad1ea2e" ], "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", [ "0_edge_73_newN_0" ], "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669" ], "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] ] }, { "episode_id": "A2L26DMSVUEDP6:3D4CH1LGECWOSW517A4HST9985N9GK", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.53524, -0.01382, -2.08651 ], "start_rotation": [ 0, 0.18428, 0, 0.98287 ], "object_category": "cabinet", "info": { "geodesic_distance": 19.68586, "euclidean_distance": 17.78099, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.05225, 0.01919, -0.01454 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", [ "f40bd40958c84aff92ba792033933f3d" ], "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AIIOT9A7ARQZW:3PJUZCGDJ8J9ZHZJOCST0GSBLO4892", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.73496, 0.18397, 44.45792 ], "start_rotation": [ 0, 0.42101, 0, -0.90706 ], "object_category": "picture", "info": { "geodesic_distance": 20.09866, "euclidean_distance": 16.35687, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.51665, 0.18397, 29.37685 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_74_newN_1", "path": [ "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "0_edge_87_newN_1", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "0_edge_87_newN_1", "0_edge_73_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "0_edge_87_newN_1", [ "0_edge_73_newN_0" ], "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", [ "544ccad03803403c97721228e7cc9669" ], "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A9K0CV70JWG1W:3ZOTGHDK5KEUPOIY4ZHGEXN1RGFOSB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.38594, 0.18397, 26.47185 ], "start_rotation": [ 0, 0.83083, 0, -0.55653 ], "object_category": "table", "info": { "geodesic_distance": 15.94946, "euclidean_distance": 15.05281, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.35685, 0.18397, 41.43169 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", "path": [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0_edge_73_newN_0" ], "refined_path": [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", [ "0_edge_73_newN_0" ] ] }, { "episode_id": "AIIOT9A7ARQZW:3N1FSUEFL73KJ6PYOP7I50VWANN4D8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.10715, -0.01603, 11.77902 ], "start_rotation": [ 0, 0.34845, 0, -0.93733 ], "object_category": "stool", "info": { "geodesic_distance": 25.29319, "euclidean_distance": 23.74529, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.65343, 0.18397, 0.14774 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "462cd36ba0ff43b7af69994cc7e2384f", "path": [ "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", [ "462cd36ba0ff43b7af69994cc7e2384f" ], "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0" ], "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A16K7X677N4WN6:3S96KQ6I9O740R4O3Q8QD87OQNSTDJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.23146, -0.01603, 3.01473 ], "start_rotation": [ 0, 0.94328, 0, -0.33198 ], "object_category": "stool", "info": { "geodesic_distance": 21.60403, "euclidean_distance": 19.78924, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.71221, 0.18397, 0.13834 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", "path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A272X64FOZFYLB:3FPRZHYEP0ALVR6GFW2T1H9XVTK3V7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.59874, 0.18397, 28.77193 ], "start_rotation": [ 0, 0.09661, 0, -0.99532 ], "object_category": "table", "info": { "geodesic_distance": 20.0389, "euclidean_distance": 13.95781, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.34986, 0.18397, 41.43101 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432" ], "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "AIIOT9A7ARQZW:32EYX73OY2CD1E2ILWTKNTAUO1UURJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.53099, -0.01603, 5.25155 ], "start_rotation": [ 0, 0.07818, 0, -0.99694 ], "object_category": "picture", "info": { "geodesic_distance": 28.3523, "euclidean_distance": 26.80266, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.1863, 0.18397, 27.60604 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", "path": [ "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", [ "c835bc9904a846ce88571c2ee3557af0" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "AIIOT9A7ARQZW:3Z9WI9EOZ1RM9OJ3VDDO32ZQZ12HKG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.72757, -0.01603, 2.89652 ], "start_rotation": [ 0, 0.59368, 0, -0.8047 ], "object_category": "stool", "info": { "geodesic_distance": 23.99632, "euclidean_distance": 22.2548, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.82414, 0.18397, 0.13816 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ee62dcd77a3446028da94a7b93a2afe7", "path": [ "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0", "0_edge_151_newN_2", "0_edge_151_newN_1", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", "0_edge_130_newN_0", "63ac2b2ef1e0457385976d17655da263", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "0_edge_32_newN_2", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "0_edge_151_newN_1", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "0_edge_151_newN_1", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", "0_edge_130_newN_0", "63ac2b2ef1e0457385976d17655da263", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0", [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e" ], "0_edge_151_newN_2", "0_edge_151_newN_1", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", [ "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "0_edge_151_newN_1", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1" ], "0_edge_130_newN_0", "63ac2b2ef1e0457385976d17655da263", [ "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e" ], "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ], "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A74PT3GRDMEZ:3VP0C6EFSIZ12NZPK6Z0LO24ERPM6U", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.65033, 0.18397, 22.88884 ], "start_rotation": [ 0, 0.99319, 0, -0.11653 ], "object_category": "cabinet", "info": { "geodesic_distance": 29.2262, "euclidean_distance": 25.3789, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.16438, 0.16745, 0.70824 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A16K7X677N4WN6:3483FV8BEGMBVJVWAOGG6FO69OT62D", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.21121, -0.01603, -6.15595 ], "start_rotation": [ 0, 0.69427, 0, 0.71972 ], "object_category": "stool", "info": { "geodesic_distance": 25.18332, "euclidean_distance": 20.59286, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.72173, 0.18397, 0.15264 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "daa0aa844488426a9174a7051698a417", "path": [ "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "14c540221298447da11bf71477d7fbf1", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "0_edge_32_newN_2", "0_edge_136_newN_2", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", [ "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0" ], "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", [ "c0a8647aead54f7295512181bac0440e" ], "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_136_newN_2", [ "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3RR85PK3AV9TU:3YMTUJH0DUJR0VLVAF7XA4DIC8DT4F", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.675, -0.01603, 1.37219 ], "start_rotation": [ 0, 0.82937, 0, 0.55869 ], "object_category": "picture", "info": { "geodesic_distance": 29.01821, "euclidean_distance": 26.55406, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.96486, 0.18397, 27.7132 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", [ "063eee6149194f3abc6f297e290068fa" ], "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "AKYXQY5IP7S0Z:3VD82FOHKSREI7T27DRGZSJJ5DUOCI", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.82729, 0.18397, 26.50801 ], "start_rotation": [ 0, 0.38049, 0, -0.92479 ], "object_category": "table", "info": { "geodesic_distance": 15.18198, "euclidean_distance": 14.89639, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.33832, 0.18397, 41.41293 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "9baaef79e7484c8e9929f78df52fc3df", "path": [ "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A2L26DMSVUEDP6:37ZHEEHM6YPJK15KXYZDV3TU9BX733", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.26579, 0.18397, 20.77843 ], "start_rotation": [ 0, 0.91583, 0, -0.40156 ], "object_category": "sofa", "info": { "geodesic_distance": 23.96281, "euclidean_distance": 20.92543, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.32432, -0.01603, 6.7609 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e" ], "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A1S1K7134S2VUC:39GXDJN2OVH7WOCMRDXPSYH8BFXV8C", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.52032, 0.18397, 24.17661 ], "start_rotation": [ 0, 0.34743, 0, 0.9377 ], "object_category": "chair", "info": { "geodesic_distance": 16.07164, "euclidean_distance": 14.35648, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.86953, -0.01603, 9.93156 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "a595e80625ce4c808cf713581ce1c0da", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", [ "deb943d89d2a44ce8850edec3c7308f9" ], "a595e80625ce4c808cf713581ce1c0da", [ "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ] }, { "episode_id": "A2ZZW6KME1FUDU:3XM0HYN6NM2B05PHI4AQEGOC0TQPEE", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.19053, 0.18397, 1.24088 ], "start_rotation": [ 0, 0.3824, 0, -0.924 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.86502, "euclidean_distance": 4.41288, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.77303, 0.10887, 2.00295 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", "path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_84_newN_4", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", [ "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AIIOT9A7ARQZW:3TK8OJTYM3OS2GB3DUZ0EKCY1QQPVM", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.27593, 0.0615, -5.31842 ], "start_rotation": [ 0, 0.23807, 0, -0.97125 ], "object_category": "stool", "info": { "geodesic_distance": 27.03713, "euclidean_distance": 23.19168, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.74871, 0.18397, 0.16684 ] }, "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", "path": [ "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A1S1K7134S2VUC:3300DTYQT4KW0HQWIHPFELEM5PCEQU", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -14.16921, 0.00225, -2.79283 ], "start_rotation": [ 0, 0.11717, 0, -0.99311 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.76742, "euclidean_distance": 2.58545, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.25708, 0.07513, -0.1332 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", "path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2TUUIV61CR0C7:3C44YUNSI3S68ZBHM9Z68Y6R0ITPDR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -14.15267, 0.03212, -2.40338 ], "start_rotation": [ 0, 0.9715, 0, -0.23702 ], "object_category": "chair", "info": { "geodesic_distance": 2.08609, "euclidean_distance": 1.73819, "closest_goal_object_id": 52, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.35244, -0.01603, -2.38936 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", "path": [ "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb" ], "refined_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb" ] }, { "episode_id": "AIIOT9A7ARQZW:3P529IW9K0ODFYAFLN1PFH0S8MHLFC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.72551, 0.18397, 42.68796 ], "start_rotation": [ 0, 0.91923, 0, -0.39373 ], "object_category": "picture", "info": { "geodesic_distance": 15.40756, "euclidean_distance": 13.64367, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.52468, 0.18397, 29.23253 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_59_newN_0", "path": [ "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A3L8LSM7V7KX3T:3KOPY89HMA5C4W6MY7OAYTY305VJ3I", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.25694, -0.01603, 10.72078 ], "start_rotation": [ 0, 0.60607, 0, 0.79541 ], "object_category": "sofa", "info": { "geodesic_distance": 12.58284, "euclidean_distance": 10.8364, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.37636, -0.01603, 6.79744 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "854ce53825a347bba52684d20cca190b", "path": [ "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A75XDPFNICR3T:3R5F3LQFV4NRQ04CZRBOAQK4EV7ZOJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.12744, 0.10983, -5.56778 ], "start_rotation": [ 0, 0.88331, 0, -0.4688 ], "object_category": "sofa", "info": { "geodesic_distance": 4.04249, "euclidean_distance": 3.40782, "closest_goal_object_id": 48, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 0.09223, 0.18397, -9.05223 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "0_edge_151_newN_2", "path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", [ "5fb26cecda204c40ae520fbda21ce82e" ], "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "AKYXQY5IP7S0Z:3XLBSAQ9Z6FK5UCDI5UMZ4Y9O63Z7Z", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.08108, 0.18397, 26.06302 ], "start_rotation": [ 0, 0.80166, 0, 0.59778 ], "object_category": "table", "info": { "geodesic_distance": 18.36307, "euclidean_distance": 15.96156, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.36241, 0.18397, 41.40824 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "ACI0C2WU1NABK:354GIDR5ZD99LY63TCWLEQL0YLN00H", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.16092, 0.15146, -1.36281 ], "start_rotation": [ 0, 0.99379, 0, -0.11124 ], "object_category": "cabinet", "info": { "geodesic_distance": 18.88429, "euclidean_distance": 17.3352, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.07229, 0.01246, -0.10577 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "c0a8647aead54f7295512181bac0440e", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", [ "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e", [ "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A21ZK49H9LSSRY:3QECW5O0KJ49WEPVOKQ7FWJWD52T5H", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.06884, 0.18397, 45.85052 ], "start_rotation": [ 0, 0.8911, 0, 0.45381 ], "object_category": "picture", "info": { "geodesic_distance": 18.78756, "euclidean_distance": 17.10318, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.48725, 0.18397, 29.32684 ] }, "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "2e1d19c78bc74e1cb4a13927c3050e14", "path": [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_74_newN_1", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_87_newN_2", "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", [ "2e1d19c78bc74e1cb4a13927c3050e14" ], "aa3049db9ce543e0bb9456793ad1ea2e", [ "0_edge_87_newN_2", "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e" ], "0_edge_74_newN_1", [ "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2" ], "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A5WWHKD82I8UE:3IKZ72A5B6J33YD0X0H4S94HCG8NF4", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.47042, 0.23234, -2.81753 ], "start_rotation": [ 0, 0.82616, 0, -0.56344 ], "object_category": "chair", "info": { "geodesic_distance": 8.47404, "euclidean_distance": 7.58044, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.82371, 0.18397, 4.6394 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3E47SOBEYSZ4MLIZ9IEBFVNXT4XICJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.51509, 0.18397, 11.58556 ], "start_rotation": [ 0, 0.02459, 0, -0.9997 ], "object_category": "table", "info": { "geodesic_distance": 7.72653, "euclidean_distance": 5.99133, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.33203, 0.1062, 7.13765 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_98_newN_3", "path": [ "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_2", "0_edge_36_newN_1", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_2", "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_36_newN_1", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", [ "0_edge_98_newN_3" ], "0_edge_98_newN_2", [ "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb" ], "0_edge_36_newN_1", [ "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_2" ], "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "AZPZDX26SYMFY:3CP1TO84PV4FCFVI556BE9A6CQZ253", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -22.02468, 0.18397, -1.35985 ], "start_rotation": [ 0, 0.35234, 0, -0.93587 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.62785, "euclidean_distance": 6.12129, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.73645, 0.10469, 2.02858 ] }, "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", "path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3C5W7UE9CHTEL2JLLT8QL1FOBVVXM6", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.88926, 0.18397, 26.39045 ], "start_rotation": [ 0, 0.97747, 0, 0.21106 ], "object_category": "table", "info": { "geodesic_distance": 19.06737, "euclidean_distance": 15.89549, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.39793, 0.18397, 41.47552 ] }, "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", [ "063eee6149194f3abc6f297e290068fa" ], "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", [ "9777c924f783428ca832493cef2b5259" ] ] }, { "episode_id": "A2TUUIV61CR0C7:33UKMF931BNBHG0LPG85ICPAS78TTP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.21098, 0.17452, 0.19645 ], "start_rotation": [ 0, 0.23266, 0, -0.97256 ], "object_category": "chair", "info": { "geodesic_distance": 6.34939, "euclidean_distance": 6.02257, "closest_goal_object_id": 55, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.08817, -0.01603, -4.80447 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e" ] }, { "episode_id": "A3L8LSM7V7KX3T:3JPSL1DZ5U2877WSMKVCE8TQFZSAN9", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.12858, -0.01603, -3.78374 ], "start_rotation": [ 0, 0.76047, 0, -0.64937 ], "object_category": "sofa", "info": { "geodesic_distance": 6.21664, "euclidean_distance": 5.62173, "closest_goal_object_id": 48, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 0.02206, 0.18397, -9.04848 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", "path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0" ], "refined_path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0" ] }, { "episode_id": "A26LOVXF4QZZCO:340UGXU9D045ULJZUGYUOQZX867VUA", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.00712, 0.06437, -0.97976 ], "start_rotation": [ 0, 0.47405, 0, 0.8805 ], "object_category": "chair", "info": { "geodesic_distance": 9.24166, "euclidean_distance": 5.64641, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.8589, 0.18397, 4.60015 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "14c540221298447da11bf71477d7fbf1", "path": [ "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "refined_path": [ "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", [ "a595e80625ce4c808cf713581ce1c0da" ], "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ] }, { "episode_id": "A2TUUIV61CR0C7:3RKNTXVS3O1MLZMM4FGGFZNQOJG4AT", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.48857, 0.0391, -1.81566 ], "start_rotation": [ 0, 0.81289, 0, 0.58242 ], "object_category": "sofa", "info": { "geodesic_distance": 10.43997, "euclidean_distance": 7.95333, "closest_goal_object_id": 48, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 0.15106, 0.18397, -8.99956 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "63ac2b2ef1e0457385976d17655da263", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", [ "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843" ], "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", [ "5fb26cecda204c40ae520fbda21ce82e" ], "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", [ "63ac2b2ef1e0457385976d17655da263", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e" ], "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ] }, { "episode_id": "A3L8LSM7V7KX3T:308XBLVESK7Y5FTCL5CPI3I6YFVRB4", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 6.71427, 0.18397, 44.14432 ], "start_rotation": [ 0, 0.69818, 0, -0.71592 ], "object_category": "chair", "info": { "geodesic_distance": 1.10011, "euclidean_distance": 0.97094, "closest_goal_object_id": 250, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 7.54001, 0.18397, 44.84032 ] }, "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_22_newN_1", "path": [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4" ], "refined_path": [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4" ] }, { "episode_id": "A272X64FOZFYLB:36ZN444YTT15VAF2ZNN2AVHEIH2IO0", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.43171, 0.18397, 26.53536 ], "start_rotation": [ 0, 0.59538, 0, -0.80344 ], "object_category": "sofa", "info": { "geodesic_distance": 28.83163, "euclidean_distance": 24.60267, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.44854, -0.01603, 6.90261 ] }, "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", "path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "A29CNQYJWMJ7G9:3W2LOLRXLDIZYIX6RIPIH61VY4VRKG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.24024, 0.16227, 1.57898 ], "start_rotation": [ 0, 0.77609, 0, -0.63062 ], "object_category": "stool", "info": { "geodesic_distance": 10.06511, "euclidean_distance": 5.7508, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.68608, 0.18397, 0.16457 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", "path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", [ "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da" ], "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3HHRAGRYXA8CK9MZVTHPX2IACG89OQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.79201, -0.01603, -3.58773 ], "start_rotation": [ 0, 0.93594, 0, 0.35217 ], "object_category": "sofa", "info": { "geodesic_distance": 2.88526, "euclidean_distance": 2.03418, "closest_goal_object_id": 38, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -10.75301, -0.01603, -4.23234 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "9777c924f783428ca832493cef2b5259", "path": [ "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3OCHAWUVGQNJVEJI0HVA6ONKD00KXZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.81421, 0.18397, -1.46921 ], "start_rotation": [ 0, 0.31855, 0, 0.94791 ], "object_category": "chair", "info": { "geodesic_distance": 6.99871, "euclidean_distance": 6.13535, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.94254, 0.18397, 4.68951 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da" ], "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", [ "deb943d89d2a44ce8850edec3c7308f9" ], "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "A9K0CV70JWG1W:39OWYR0EPMUXFXHE42QF9P2O71AFYD", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.27677, 0.18397, 2.34058 ], "start_rotation": [ 0, 0.85544, 0, -0.5179 ], "object_category": "chair", "info": { "geodesic_distance": 3.43359, "euclidean_distance": 2.28848, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.87202, 0.18397, 4.65829 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", "path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3WEV0KO0OOV3LRR9EQ3033B2D2PSDP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.24836, 0.10135, -1.16296 ], "start_rotation": [ 0, 0.84407, 0, -0.53623 ], "object_category": "sofa", "info": { "geodesic_distance": 10.34029, "euclidean_distance": 7.70866, "closest_goal_object_id": 49, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.53547, 0.04489, 6.46518 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "0_edge_110_newN_0", "0_edge_31_newN_0", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "477dbfb712f242958420a83d490a70ed" ], "0_edge_110_newN_0", "0_edge_31_newN_0", [ "a595e80625ce4c808cf713581ce1c0da" ], "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", [ "deb943d89d2a44ce8850edec3c7308f9" ] ] }, { "episode_id": "A2Q6L9LKSNU7EB:3SKRO2GZ73UB5DYPTOA3BFJJBLA1KG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.06696, 0.18397, 24.1867 ], "start_rotation": [ 0, 0.23591, 0, -0.97177 ], "object_category": "table", "info": { "geodesic_distance": 19.29448, "euclidean_distance": 17.76801, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.53967, 0.18397, 41.35178 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "0_edge_31_newN_0", "0_edge_110_newN_0", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_47_newN_1", "11_edge_36_newN_0", "0_edge_47_newN_0", "daa0aa844488426a9174a7051698a417" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_47_newN_1", "11_edge_36_newN_0", "0_edge_47_newN_0", "daa0aa844488426a9174a7051698a417" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", [ "a66ff11e61dd489994fba110d257025e" ], "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da" ], "0_edge_31_newN_0", "0_edge_110_newN_0", [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_47_newN_1", "11_edge_36_newN_0", "0_edge_47_newN_0", "daa0aa844488426a9174a7051698a417" ] }, { "episode_id": "AOMFEAWQHU3D8:39GHHAVOMHUXMSPQYLTT8YQ8PCM4J6", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -12.26174, -0.01603, 6.6118 ], "start_rotation": [ 0, 0.6341, 0, 0.77325 ], "object_category": "chair", "info": { "geodesic_distance": 4.5038, "euclidean_distance": 2.60349, "closest_goal_object_id": 89, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -9.60769, -0.01603, 6.75939 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0" ] }, { "episode_id": "A19C2SO0IMRZ1L:38BQUHLA9Y3RRT5TK2LU2OOVQT1OMY", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.37334, -0.01603, 4.50569 ], "start_rotation": [ 0, 0.11505, 0, 0.99336 ], "object_category": "chair", "info": { "geodesic_distance": 3.69126, "euclidean_distance": 2.83208, "closest_goal_object_id": 89, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -9.57487, -0.01603, 6.73619 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560" ], "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "AIIOT9A7ARQZW:3KB8R4ZV1GA7GPKY5UIDJZ4ZQH1GBU", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.3461, 0.18397, 26.3857 ], "start_rotation": [ 0, 0.19773, 0, -0.98026 ], "object_category": "table", "info": { "geodesic_distance": 16.91019, "euclidean_distance": 15.30842, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.34045, 0.18397, 41.46859 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "c835bc9904a846ce88571c2ee3557af0", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "89fc715c56814d59aaf7eaa522fe199a" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0" ], "c835bc9904a846ce88571c2ee3557af0", [ "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa" ], "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", [ "5fb68178835247328ebd444ea4207d64" ], "89fc715c56814d59aaf7eaa522fe199a", [ "5fb68178835247328ebd444ea4207d64" ] ] }, { "episode_id": "A29CNQYJWMJ7G9:39PAAFCODO3QU84AUB8KJUDVG42TVY", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.57786, 0.07479, -0.484 ], "start_rotation": [ 0, 0.58914, 0, -0.80803 ], "object_category": "stool", "info": { "geodesic_distance": 28.58595, "euclidean_distance": 26.39786, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.82484, 0.18397, 0.11642 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A2TUUIV61CR0C7:34FNN24DCOC5D0OPYQD6NDBA00UY5D", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.80799, 0.18397, 5.54884 ], "start_rotation": [ 0, 0.65462, 0, -0.75595 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.37614, "euclidean_distance": 5.42705, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.78075, 0.10976, 1.86883 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_32_newN_2", "path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", [ "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ], "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3NFGEUZAH9V5G:39DD6S19JRE5E9RN5D8S5EQQ0TOEZ7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.33067, 0.18397, 21.77271 ], "start_rotation": [ 0, 0.69514, 0, -0.71887 ], "object_category": "sofa", "info": { "geodesic_distance": 24.84708, "euclidean_distance": 21.64447, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.48236, -0.01603, 6.91395 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_84_newN_4", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e" ], "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3VJ40NV2QKQV4OVDTZM6O2JNK0QTOV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.27174, 0.18397, 17.48492 ], "start_rotation": [ 0, 0.99967, 0, -0.02564 ], "object_category": "sofa", "info": { "geodesic_distance": 20.11453, "euclidean_distance": 17.28726, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.47218, -0.01603, 6.79677 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "1f6913d742e04627b35d285907b0c41c", "path": [ "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c" ], "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "AIIOT9A7ARQZW:3TVRFO09GMIUFK10LH7BLO0Z522LX7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.25551, -0.01603, 2.801 ], "start_rotation": [ 0, 0.32722, 0, 0.94495 ], "object_category": "picture", "info": { "geodesic_distance": 27.41606, "euclidean_distance": 25.28183, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.15314, 0.18397, 27.53849 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "ee62dcd77a3446028da94a7b93a2afe7", "path": [ "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A2DWSKGD9RNKMJ:35BLDD71I80MGKD903X25IEC4YDZV8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.4023, 0.0068, -4.92195 ], "start_rotation": [ 0, 0.53689, 0, -0.84365 ], "object_category": "sofa", "info": { "geodesic_distance": 4.88078, "euclidean_distance": 4.07748, "closest_goal_object_id": 48, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 0.12749, 0.18397, -8.92226 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", "path": [ "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e" ], "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", [ "63ac2b2ef1e0457385976d17655da263" ], "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", [ "1611d119a70b46869c6e12117aa71972" ] ] }, { "episode_id": "A29CNQYJWMJ7G9:3HL8HNGX474IEW96WQYZA89WKL9F9E", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 9.88802, 0.18397, 45.10846 ], "start_rotation": [ 0, 0.67985, 0, 0.73335 ], "object_category": "picture", "info": { "geodesic_distance": 18.06241, "euclidean_distance": 16.69046, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.46091, 0.18397, 29.30863 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_84_newN_4", "path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "APGX2WZ59OWDN:3OXV7EAXLGT0G1RFEOULPPTXRPV63A", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.26416, -0.01603, 5.62686 ], "start_rotation": [ 0, 0.97038, 0, 0.24157 ], "object_category": "chair", "info": { "geodesic_distance": 2.30359, "euclidean_distance": 1.2853, "closest_goal_object_id": 89, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -9.50235, -0.01603, 6.78347 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", "path": [ "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ], "refined_path": [ "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ] }, { "episode_id": "AVASQBFN6J692:3TS1AR6UQSHE0DLDHT0FWCIR21R7FR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.07337, 0.18397, 27.66919 ], "start_rotation": [ 0, 0.76704, 0, 0.64159 ], "object_category": "chair", "info": { "geodesic_distance": 18.52288, "euclidean_distance": 14.4988, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 5.01398, 0.18397, 40.85665 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ] }, { "episode_id": "A3O5RKGH6VB19C:3NG53N1RLXMUR4FQ51OQM6SQGSV8PW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -12.0694, -0.01603, 6.53436 ], "start_rotation": [ 0, 0.54885, 0, -0.83592 ], "object_category": "chair", "info": { "geodesic_distance": 4.29662, "euclidean_distance": 2.41759, "closest_goal_object_id": 89, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -9.58382, -0.01603, 6.81002 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", [ "3a5f7c6c250e4d56b96ff967489de836" ], "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "AIIOT9A7ARQZW:32M8BPYGAVPH3XY4B4AU5M8CL6KGI0", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.00893, 0.18397, 24.63504 ], "start_rotation": [ 0, 0.80956, 0, -0.58703 ], "object_category": "cabinet", "info": { "geodesic_distance": 29.6809, "euclidean_distance": 28.24378, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -13.99574, 0.12143, 0.808 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3X0H8UUIT3R2UXR0VL8QVR0M760SW0", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.18987, -0.01603, -4.27967 ], "start_rotation": [ 0, 0.30984, 0, -0.95079 ], "object_category": "sofa", "info": { "geodesic_distance": 5.20583, "euclidean_distance": 4.60393, "closest_goal_object_id": 38, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -7.58188, -0.01603, -5.5301 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", "path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", [ "e08f96be3042438dbcbead0207f8b016" ], "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "AOMFEAWQHU3D8:3U84XHCDIEGNM7UUG7WFWSEY8AZ4ZR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.05102, 0.18397, 2.50107 ], "start_rotation": [ 0, 0.22787, 0, -0.97369 ], "object_category": "table", "info": { "geodesic_distance": 5.19239, "euclidean_distance": 4.88845, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -15.56637, 0.03679, 5.82569 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_31_newN_0", "path": [ "0_edge_31_newN_0", "0_edge_110_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "0_edge_31_newN_0", "0_edge_110_newN_0", [ "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A1P3HHEXWNLJMP:3EA3QWIZ4KYL82KAV49145N1828ITS", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 11.76015, 0.18397, 43.34157 ], "start_rotation": [ 0, 0.86108, 0, -0.50847 ], "object_category": "picture", "info": { "geodesic_distance": 19.66259, "euclidean_distance": 15.80222, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.47133, 0.18397, 29.2661 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", "path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A3L8LSM7V7KX3T:3OF2M9AATIR809JX1ZJV393U50HKZX", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 7.26215, 0.18397, 42.50212 ], "start_rotation": [ 0, 0.729, 0, 0.68451 ], "object_category": "picture", "info": { "geodesic_distance": 17.37188, "euclidean_distance": 13.47245, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.53959, 0.18397, 29.29638 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "03d493822ac64466ba416f084a9d3bb9", "path": [ "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", [ "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64" ], "89fc715c56814d59aaf7eaa522fe199a", [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d" ], "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A2TUUIV61CR0C7:39GAF6DQWT3PLOS1SSOADOU0OJSV14", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.349, 0.18397, 28.60532 ], "start_rotation": [ 0, 0.64167, 0, 0.76698 ], "object_category": "chair", "info": { "geodesic_distance": 18.11999, "euclidean_distance": 13.35067, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 5.01359, 0.18397, 40.84885 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263" ] }, { "episode_id": "AZPZDX26SYMFY:3DPNQGW4LNILYXAJE2Z4ZUL4JBT64L", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 8.99238, 0.18397, 41.90459 ], "start_rotation": [ 0, 0.93347, 0, -0.35865 ], "object_category": "picture", "info": { "geodesic_distance": 17.66848, "euclidean_distance": 13.37077, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.57631, 0.18397, 29.33668 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", [ "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A3RR85PK3AV9TU:35K3O9HUADGZ9S0N41EL2MA8PZYFEB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 12.01892, 0.18397, 42.78213 ], "start_rotation": [ 0, 0.34448, 0, 0.93879 ], "object_category": "picture", "info": { "geodesic_distance": 19.99879, "euclidean_distance": 15.43303, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.54268, 0.18397, 29.27321 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", "path": [ "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", [ "122154d283494710ae5e592fc99bf8e1" ], "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", [ "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A16K7X677N4WN6:33SA9F9TRZX1KEMIUQOL6AW8N1EWEH", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.51864, 0.18397, 24.94363 ], "start_rotation": [ 0, 0.97574, 0, 0.21893 ], "object_category": "chair", "info": { "geodesic_distance": 16.29166, "euclidean_distance": 15.30841, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.06581, -0.01603, 9.99056 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836" ] }, { "episode_id": "A16K7X677N4WN6:3SKEMFQBZ58TGDIAS9JIQP6RPTQK8X", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.93231, -0.01603, 1.54919 ], "start_rotation": [ 0, 0.98279, 0, 0.18472 ], "object_category": "stool", "info": { "geodesic_distance": 15.96015, "euclidean_distance": 13.95094, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.77384, 0.18397, 0.07542 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", "path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A1P3HHEXWNLJMP:3JV9LGBJWVHRZJ979ZNZPJ4YXFOOG8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.44432, 0.04681, 12.80795 ], "start_rotation": [ 0, 0.97736, 0, -0.21158 ], "object_category": "sofa", "info": { "geodesic_distance": 14.71908, "euclidean_distance": 12.44398, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.32214, -0.01603, 6.7685 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "cde4845dbdcd439b988ffa3ab38262d1", "path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3483FV8BEGMBVJVWAOGG6FO62XL26C", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.20852, 0.18397, 26.92053 ], "start_rotation": [ 0, 0.03342, 0, -0.99944 ], "object_category": "chair", "info": { "geodesic_distance": 18.38527, "euclidean_distance": 17.11366, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.96367, -0.01603, 9.9671 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "44d33d6e1d08491bbbbefbbdf4153521", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", [ "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa" ], "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "A2DDPSXH2X96RF:3HUTX6F6VWQ1KP10AK2ANFAW6BNO24", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.64053, 0.18397, -0.89145 ], "start_rotation": [ 0, 0.84582, 0, -0.53348 ], "object_category": "chair", "info": { "geodesic_distance": 6.82542, "euclidean_distance": 5.76013, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.85368, 0.18397, 4.62394 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0" ], "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", [ "deb943d89d2a44ce8850edec3c7308f9" ], "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560" ], "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3RXPCZQMQRE63R263XPODNRPJSN1GW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.58196, 0.18397, 22.43003 ], "start_rotation": [ 0, 0.43375, 0, 0.90103 ], "object_category": "sofa", "info": { "geodesic_distance": 24.67673, "euclidean_distance": 20.89256, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.45665, -0.01603, 6.82457 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A29CNQYJWMJ7G9:39N5ACM9HGQU59Y0ATU4M2N0MSVP9S", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.16016, 0.03857, -2.25135 ], "start_rotation": [ 0, 0.99037, 0, 0.13844 ], "object_category": "stool", "info": { "geodesic_distance": 26.74427, "euclidean_distance": 24.09314, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.80552, 0.18397, 0.10806 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3RR85PK3AV9TU:37FMASSAYEULCGQTVIIG4BHF2VUBIH", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.74312, -0.01603, 2.83289 ], "start_rotation": [ 0, 0.18481, 0, -0.98277 ], "object_category": "picture", "info": { "geodesic_distance": 28.32399, "euclidean_distance": 25.09714, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.20749, 0.18397, 27.61297 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", [ "95402f398bab4d1f83c68015eccd5cc8" ], "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A5WWHKD82I8UE:3MRNMEIQW79GHEWJUH6ZRHX7PIOLDZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.02643, 0.18397, 11.79957 ], "start_rotation": [ 0, 0.87489, 0, -0.48432 ], "object_category": "table", "info": { "geodesic_distance": 8.17478, "euclidean_distance": 5.83418, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.57656, 0.16993, 7.17422 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "e3676c851d0f434e9bbf6911f7a676fb", "path": [ "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", [ "deb943d89d2a44ce8850edec3c7308f9" ], "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", [ "9777c924f783428ca832493cef2b5259" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", [ "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3NLZY2D53RSA6N0OZ3CJRG45RG9LQJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 10.58158, 0.18397, 43.65484 ], "start_rotation": [ 0, 0.51749, 0, -0.85569 ], "object_category": "picture", "info": { "geodesic_distance": 18.46779, "euclidean_distance": 15.58175, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.56776, 0.18397, 29.35111 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", "path": [ "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", [ "5fb68178835247328ebd444ea4207d64" ], "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A1NKBXOTZAI1YK:3YHH42UU5DIMIUVPI5I4CADOST4L0S", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.16081, 0.18397, 25.55521 ], "start_rotation": [ 0, 0.88768, 0, -0.46046 ], "object_category": "table", "info": { "geodesic_distance": 18.62298, "euclidean_distance": 16.47164, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.36271, 0.18397, 41.4488 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3E47SOBEYSZ4MLIZ9IEBFVNXKECIC9", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.28298, 0.18397, 25.80386 ], "start_rotation": [ 0, 0.0584, 0, 0.99829 ], "object_category": "table", "info": { "geodesic_distance": 17.2368, "euclidean_distance": 15.89139, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.42667, 0.18397, 41.44107 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", [ "9777c924f783428ca832493cef2b5259" ] ] }, { "episode_id": "AZPZDX26SYMFY:3C2NJ6JBKCKJ241O952X8QASXM1N2W", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -22.19311, 0.18397, 1.90393 ], "start_rotation": [ 0, 0.91839, 0, -0.39568 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.15079, "euclidean_distance": 5.37103, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.75684, 0.10702, 1.87926 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", "path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3YWRV122CU27J9NMMNNKWCFOAXS8UT", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.59369, 0.06696, -0.77688 ], "start_rotation": [ 0, 0.22796, 0, 0.97367 ], "object_category": "chair", "info": { "geodesic_distance": 6.47826, "euclidean_distance": 6.22316, "closest_goal_object_id": 55, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.02906, -0.01603, -4.83992 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", [ "5fb26cecda204c40ae520fbda21ce82e" ] ] }, { "episode_id": "AD1ILDUXZHASF:3483FV8BEGMBVJVWAOGG6FO6YMB26C", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.65395, -0.01603, 5.02116 ], "start_rotation": [ 0, 0.98942, 0, -0.14506 ], "object_category": "chair", "info": { "geodesic_distance": 3.76265, "euclidean_distance": 2.64544, "closest_goal_object_id": 89, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -9.50613, -0.01603, 6.80495 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3SKRO2GZ73UB5DYPTOA3BFJJBMVK1M", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 8.24401, 0.18397, 42.97459 ], "start_rotation": [ 0, 0.37695, 0, 0.92623 ], "object_category": "picture", "info": { "geodesic_distance": 16.39083, "euclidean_distance": 14.16458, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.54769, 0.18397, 29.35556 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A29CNQYJWMJ7G9:3IXQG4FA2V1S1FXQROC3RIIB5NH9BQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.07933, -0.01603, 0.61606 ], "start_rotation": [ 0, 0.40685, 0, 0.91349 ], "object_category": "picture", "info": { "geodesic_distance": 29.8283, "euclidean_distance": 27.25611, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.00387, 0.18397, 27.65307 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "0_edge_84_newN_4", "171278a4cf64429d9ab2df21adcc60d8", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "0_edge_32_newN_2", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "f530764ebfa140c7ad68d1cae7e3f8d9", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_47_newN_1", "11_edge_36_newN_0", "0_edge_47_newN_0", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", "e08f96be3042438dbcbead0207f8b016", "ee62dcd77a3446028da94a7b93a2afe7", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "0_edge_8_newN_2", "7a87d776b160483a95fc4f7cdffe0432" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_47_newN_1", "11_edge_36_newN_0", "0_edge_47_newN_0", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ee62dcd77a3446028da94a7b93a2afe7", "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", [ "5fb68178835247328ebd444ea4207d64" ], "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa" ], "171278a4cf64429d9ab2df21adcc60d8", [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", [ "3a5f7c6c250e4d56b96ff967489de836" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ], "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", [ "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0" ], "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18" ], "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560" ], "0_edge_3_newN_0", [ "87870f8cba81492b8ef631196a2f6560" ], "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", [ "9777c924f783428ca832493cef2b5259" ], "f530764ebfa140c7ad68d1cae7e3f8d9", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_47_newN_1", "11_edge_36_newN_0", "0_edge_47_newN_0", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", [ "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9" ], "e08f96be3042438dbcbead0207f8b016", [ "44d33d6e1d08491bbbbefbbdf4153521" ], "ee62dcd77a3446028da94a7b93a2afe7", [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d" ], "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", [ "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016" ], "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb" ], "7a87d776b160483a95fc4f7cdffe0432", [ "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] ] }, { "episode_id": "A35CL66BEUSJ5Z:3OB0CAO74JSHTT8KZSEFCAE1QPKHYV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.4046, 0.27344, -7.12135 ], "start_rotation": [ 0, 0.72348, 0, 0.69035 ], "object_category": "table", "info": { "geodesic_distance": 1.87475, "euclidean_distance": 1.75344, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -0.32923, 0.18397, -7.49179 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_151_newN_1", "path": [ "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", [ "5fb26cecda204c40ae520fbda21ce82e" ], "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A29CNQYJWMJ7G9:36U2A8VAG328VJ9S5DHCP2US1L6KYV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.73334, 0.18397, 23.94179 ], "start_rotation": [ 0, 0.72667, 0, -0.68698 ], "object_category": "chair", "info": { "geodesic_distance": 16.79594, "euclidean_distance": 13.964, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.87494, -0.01603, 9.92086 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3JMSRU9HQKXO5PMD4GJPK8DTZBSVE5", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 12.34514, 0.18397, 44.93878 ], "start_rotation": [ 0, 0.99927, 0, 0.03827 ], "object_category": "picture", "info": { "geodesic_distance": 20.35889, "euclidean_distance": 17.4905, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.54869, 0.18397, 29.43769 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", "path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A272X64FOZFYLB:33F859I568GLGLF9P00V4ZGZOU1HBO", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.90215, 0.18397, 22.58802 ], "start_rotation": [ 0, 0.68951, 0, -0.72427 ], "object_category": "sofa", "info": { "geodesic_distance": 24.63853, "euclidean_distance": 20.56407, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.50628, -0.01603, 6.92721 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e" ], "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "A29CNQYJWMJ7G9:3KRVW3HTZPO6PLXMRJ23MTYWNSBSMQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -4.30935, -0.01603, 3.86968 ], "start_rotation": [ 0, 0.97314, 0, -0.23023 ], "object_category": "stool", "info": { "geodesic_distance": 20.12258, "euclidean_distance": 18.87285, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.69131, 0.18397, 0.15204 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "0_edge_129_newN_0", "path": [ "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "AEWGY34WUIA32:3KYQYYSHYXAONZZG79MRJY11GD8ODA", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -23.27006, 0.18397, -0.32541 ], "start_rotation": [ 0, 0.98198, 0, 0.18898 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.4041, "euclidean_distance": 6.80991, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.75727, 0.10707, 2.00754 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", "path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AAX9LTAOIBECD:37UQDCYH6ZY3WA73H85JEYLDU617VR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 8.10176, 0.18397, 42.98524 ], "start_rotation": [ 0, 0.60688, 0, -0.79479 ], "object_category": "picture", "info": { "geodesic_distance": 16.27493, "euclidean_distance": 14.13762, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.50376, 0.18397, 29.39159 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "03d493822ac64466ba416f084a9d3bb9", "path": [ "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A12PUQIBXRBOXV:3NKQQ8O3908J04JD3VY0I4TQZ0KUDK", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.93001, -0.01603, 1.02407 ], "start_rotation": [ 0, 0.13146, 0, 0.99132 ], "object_category": "cabinet", "info": { "geodesic_distance": 17.0644, "euclidean_distance": 17.04799, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.04315, 0.11956, 0.68095 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0" ], "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AAX9LTAOIBECD:3X65QVEQI2Q6CMQ5ULBO7BFP4I8CLM", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.23497, 0.18397, 28.21798 ], "start_rotation": [ 0, 0.97842, 0, -0.20662 ], "object_category": "table", "info": { "geodesic_distance": 19.51339, "euclidean_distance": 14.31472, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.49613, 0.18397, 41.37659 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A1R0689JPSQ3OF:3QILPRALQ7YUOJ3DPMBYIHNU21FN8W", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.31262, 0.18397, 28.52659 ], "start_rotation": [ 0, 0.81113, 0, 0.58486 ], "object_category": "table", "info": { "geodesic_distance": 18.76336, "euclidean_distance": 13.68967, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.44337, 0.18397, 41.46548 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A3O5RKGH6VB19C:3IQ1VMJRYVNNI5SYLAC7W7Y5LG8A9S", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.72738, 0.18397, 26.20457 ], "start_rotation": [ 0, 0.29388, 0, 0.95584 ], "object_category": "chair", "info": { "geodesic_distance": 15.93537, "euclidean_distance": 15.0195, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.91388, 0.18397, 40.89295 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A3RR85PK3AV9TU:37M28K1J0SGCOH577M3KL1C9XQ9AJ4", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.83709, 0.21024, -5.55529 ], "start_rotation": [ 0, 0.94067, 0, 0.33933 ], "object_category": "table", "info": { "geodesic_distance": 3.35097, "euclidean_distance": 2.87709, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -0.2847, 0.18397, -7.51737 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_151_newN_2", "path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "refined_path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ] }, { "episode_id": "A29CNQYJWMJ7G9:3E337GFOLBB9HY9V8KNMAU4T47BGNE", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.93419, -0.01603, -2.4651 ], "start_rotation": [ 0, 0.68566, 0, 0.72792 ], "object_category": "stool", "info": { "geodesic_distance": 22.69547, "euclidean_distance": 19.05991, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.6977, 0.18397, 0.11144 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", "path": [ "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "171278a4cf64429d9ab2df21adcc60d8", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "0_edge_8_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "0_edge_11_newN_0", "35e62dc086ba4cd598a30fd3ec926a18", "3a5f7c6c250e4d56b96ff967489de836", "14c540221298447da11bf71477d7fbf1", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18" ], "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", [ "0_edge_59_newN_0", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa" ], "171278a4cf64429d9ab2df21adcc60d8", [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", [ "e08f96be3042438dbcbead0207f8b016" ], "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", [ "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "0_edge_11_newN_0", [ "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560" ], "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb" ], "3a5f7c6c250e4d56b96ff967489de836", [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ], "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", [ "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A272X64FOZFYLB:32SVAV9L3HC1333I41BX5UVJKILA3L", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.91424, 0.18397, 24.38663 ], "start_rotation": [ 0, 0.68759, 0, 0.7261 ], "object_category": "sofa", "info": { "geodesic_distance": 26.43259, "euclidean_distance": 21.97375, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.38809, -0.01603, 6.82412 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A29CNQYJWMJ7G9:3SB5N7Y3O576W2HO7ELOZI8GWENG0Q", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.94058, 0.38397, -7.06877 ], "start_rotation": [ 0, 0.91051, 0, -0.41349 ], "object_category": "stool", "info": { "geodesic_distance": 29.83995, "euclidean_distance": 25.78606, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.68648, 0.18397, 0.11874 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "0_edge_151_newN_1", "path": [ "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", [ "5fb26cecda204c40ae520fbda21ce82e" ], "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "AZPZDX26SYMFY:3OCHAWUVGQNJVEJI0HVA6ONKCQEKXS", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.13863, 0.18397, 25.4522 ], "start_rotation": [ 0, 0.89061, 0, -0.45477 ], "object_category": "sofa", "info": { "geodesic_distance": 28.0624, "euclidean_distance": 24.1953, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.43025, -0.01603, 6.94914 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", "path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A29CNQYJWMJ7G9:304SM51WA57A6UTP0UCU8DN2BTCBSP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.4988, -0.01603, 2.90888 ], "start_rotation": [ 0, 0.11176, 0, 0.99374 ], "object_category": "stool", "info": { "geodesic_distance": 16.03493, "euclidean_distance": 14.57703, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.79763, 0.18397, 0.09444 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", "path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A1P3HHEXWNLJMP:3LYA37P8ISQCIBGHVL3SHRWSUZOBKX", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.79463, 0.18397, 46.77364 ], "start_rotation": [ 0, 0.21951, 0, -0.97561 ], "object_category": "picture", "info": { "geodesic_distance": 20.1922, "euclidean_distance": 17.65448, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.60033, 0.18397, 29.41174 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "aa3049db9ce543e0bb9456793ad1ea2e", "path": [ "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", [ "5fb68178835247328ebd444ea4207d64" ], "122154d283494710ae5e592fc99bf8e1", [ "5fb68178835247328ebd444ea4207d64" ], "6b06f294636f4fcd9bddeb75cda61c6d", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d" ], "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "AREQ43Q0T8ENT:36NEMU28XHGZW2EVBOC4JI1GFFUMWQ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.48428, 0.18397, -0.17422 ], "start_rotation": [ 0, 0.94383, 0, -0.33043 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.32194, "euclidean_distance": 5.0889, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.75694, 0.10704, 1.94995 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", "path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A21ZK49H9LSSRY:3WMOAN2SRD0SZVZQXFM8AV73UKWVNE", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.72058, -0.01603, -3.2815 ], "start_rotation": [ 0, 0.15181, 0, -0.98841 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.71286, "euclidean_distance": 5.43722, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.23867, 0.06023, -0.18839 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_2_newN_1", "path": [ "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da" ], "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] ] }, { "episode_id": "A2ZZW6KME1FUDU:3E337GFOLBB9HY9V8KNMAU4T75RGNT", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.35053, 0.18397, 28.15932 ], "start_rotation": [ 0, 0.60855, 0, -0.79352 ], "object_category": "chair", "info": { "geodesic_distance": 18.89691, "euclidean_distance": 14.17296, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.88862, 0.18397, 40.92419 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "7a87d776b160483a95fc4f7cdffe0432", "0_edge_11_newN_1", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e" ], "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", [ "c835bc9904a846ce88571c2ee3557af0" ], "7a87d776b160483a95fc4f7cdffe0432", [ "ce911e4041d24673bc7e5d80dd645630" ], "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ] }, { "episode_id": "A2TUUIV61CR0C7:34T446B1C2HTFQ1J5SP59RN1YKO0CP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.35677, 0.18397, 23.50042 ], "start_rotation": [ 0, 0.75034, 0, 0.66105 ], "object_category": "table", "info": { "geodesic_distance": 20.78465, "euclidean_distance": 18.75882, "closest_goal_object_id": 103, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.22365, -0.01603, 4.843 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "A141U21ZM8A3KE:3ZWFC4W1UWAOIW5SQ7YL1T9QQ1PFRZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.63957, 0.18397, 24.85349 ], "start_rotation": [ 0, 0.58581, 0, 0.81045 ], "object_category": "sofa", "info": { "geodesic_distance": 27.00045, "euclidean_distance": 22.78651, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.36071, -0.01603, 6.75037 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", [ "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560" ], "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A5A14MTB35J23:39GHHAVOMHUXMSPQYLTT8YQ946M4JB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.1527, 0.18397, 21.98728 ], "start_rotation": [ 0, 0.07119, 0, 0.99746 ], "object_category": "cabinet", "info": { "geodesic_distance": 27.2021, "euclidean_distance": 25.55858, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -13.95393, 0.10377, 0.73429 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e" ], "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3RKNTXVS3O1MLZMM4FGGFZNQIUI4AB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.7016, 0.18397, 44.78428 ], "start_rotation": [ 0, 0.80747, 0, 0.58991 ], "object_category": "picture", "info": { "geodesic_distance": 21.02714, "euclidean_distance": 17.04284, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.55252, 0.18397, 29.36997 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_144_newN_0", "path": [ "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_144_newN_0", "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", [ "0_edge_144_newN_0" ], "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A21ZK49H9LSSRY:3WOKGM4L73JUOFYMVXYW4RHIQYUO00", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.48356, 0.18397, 21.76433 ], "start_rotation": [ 0, 0.92027, 0, -0.39127 ], "object_category": "cabinet", "info": { "geodesic_distance": 26.84526, "euclidean_distance": 25.56141, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.02826, 0.12599, 0.75991 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e" ], "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", [ "9777c924f783428ca832493cef2b5259" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560" ], "0_edge_3_newN_0", [ "87870f8cba81492b8ef631196a2f6560" ], "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3O5RKGH6VB19C:382M9COHEJIOSAXDZQ9KOMBBZL8EU2", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.95702, 0.18397, 23.86259 ], "start_rotation": [ 0, 0.95662, 0, 0.29133 ], "object_category": "table", "info": { "geodesic_distance": 20.67358, "euclidean_distance": 19.14052, "closest_goal_object_id": 103, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.12672, -0.01603, 4.86295 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "A16K7X677N4WN6:3M68NM076JASZ3CHPEVH7NWEEQ7R6O", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -4.39596, -0.01603, 2.81584 ], "start_rotation": [ 0, 0.51357, 0, 0.85805 ], "object_category": "stool", "info": { "geodesic_distance": 20.46605, "euclidean_distance": 18.6083, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.73545, 0.18397, 0.07477 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", "path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A5WWHKD82I8UE:3SNLUL3WO6Q2YG75GCWO1H1VBIBULA", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.95603, 0.18397, 26.41195 ], "start_rotation": [ 0, 0.34286, 0, -0.93939 ], "object_category": "sofa", "info": { "geodesic_distance": 28.5902, "euclidean_distance": 24.21936, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.29747, -0.01603, 6.7597 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3B3WTRP3DD5YD2XU8VJSQPF8ON4298", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.18658, 0.02471, -1.81315 ], "start_rotation": [ 0, 0.95275, 0, -0.30375 ], "object_category": "cabinet", "info": { "geodesic_distance": 19.35188, "euclidean_distance": 17.40327, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.13662, 0.077, 0.1704 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "95402f398bab4d1f83c68015eccd5cc8", [ "f40bd40958c84aff92ba792033933f3d" ], "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0" ], "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A74PT3GRDMEZ:3U8YCDAGXRJX9RB2AAQ0TWCI50Z0Q9", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.04645, 0.20691, -2.95339 ], "start_rotation": [ 0, 0.82822, 0, -0.5604 ], "object_category": "chair", "info": { "geodesic_distance": 9.21332, "euclidean_distance": 7.59635, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.77184, 0.18397, 4.58402 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "c0a8647aead54f7295512181bac0440e" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3FFJ6VRIL3RKSTNJX2LRKULVX9BI00", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 11.93538, 0.18397, 42.26636 ], "start_rotation": [ 0, 0.7727, 0, -0.63477 ], "object_category": "picture", "info": { "geodesic_distance": 20.04628, "euclidean_distance": 14.94342, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.54673, 0.18397, 29.28014 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "122154d283494710ae5e592fc99bf8e1", "path": [ "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A3RR85PK3AV9TU:37TD41K0AJCTGZLVEU8PJXTKTDPCS8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.7491, 0.01061, 1.36234 ], "start_rotation": [ 0, 0.31194, 0, -0.9501 ], "object_category": "table", "info": { "geodesic_distance": 3.82868, "euclidean_distance": 3.82868, "closest_goal_object_id": 51, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.35431, -0.01603, -1.99197 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", "path": [ "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "AS2MFSWNC5CQI:30BXRYBRP60D4ODKKRWRRDTLCHDHWM", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -5.02523, -0.01603, 1.56722 ], "start_rotation": [ 0, 0.99582, 0, -0.09136 ], "object_category": "table", "info": { "geodesic_distance": 2.84924, "euclidean_distance": 2.84924, "closest_goal_object_id": 103, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.16653, -0.01603, 3.55223 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", "path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A1R0689JPSQ3OF:3N2BF7Y2VSXHZCJ6GPQ4IFRTYCJHMR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.69298, 0.18397, 26.70353 ], "start_rotation": [ 0, 0.06115, 0, 0.99813 ], "object_category": "chair", "info": { "geodesic_distance": 15.7672, "euclidean_distance": 14.53954, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.87618, 0.18397, 40.91889 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e" ] }, { "episode_id": "A2TUUIV61CR0C7:3RXPCZQMQRE63R263XPODNRPKTO1G0", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.6911, -0.01603, 8.8909 ], "start_rotation": [ 0, 0.75411, 0, -0.65674 ], "object_category": "sofa", "info": { "geodesic_distance": 10.26603, "euclidean_distance": 8.93207, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.3714, -0.01603, 6.7789 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "3875b9ad36924b869985fed0412bc926", "path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ] }, { "episode_id": "A29CNQYJWMJ7G9:30JNVC0ORBN8KRHY8IXLZOBZRJWQH0", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.1378, -0.01603, 1.27221 ], "start_rotation": [ 0, 0.0621, 0, 0.99807 ], "object_category": "stool", "info": { "geodesic_distance": 16.80104, "euclidean_distance": 14.71802, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.76658, 0.18397, 0.08754 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "0_edge_11_newN_1", "path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A2TUUIV61CR0C7:3LPW2N6LKV5OWR4KOPGHKS5YPSYU59", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -14.05545, 0.37694, -5.44254 ], "start_rotation": [ 0, 0.46026, 0, -0.88779 ], "object_category": "chair", "info": { "geodesic_distance": 1.61938, "euclidean_distance": 1.51522, "closest_goal_object_id": 45, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.68642, 0.18397, -5.164 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_0_newN_1", "path": [ "0_edge_0_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_0_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27" ], "refined_path": [ "0_edge_0_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", [ "d260eaeca5694719868f318ab468be27" ] ] }, { "episode_id": "A2L26DMSVUEDP6:3P59JYT76NNHXH6861O9HPGKIUC2TD", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.19334, 0.17063, -0.53023 ], "start_rotation": [ 0, 0.92337, 0, -0.38392 ], "object_category": "sofa", "info": { "geodesic_distance": 9.54249, "euclidean_distance": 9.01829, "closest_goal_object_id": 48, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 0.18002, 0.18397, -8.96321 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "A272X64FOZFYLB:333U7HK6IBIAMO8JRWUMB2KE2PCJDV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.36803, 0.18397, 24.97098 ], "start_rotation": [ 0, 0.49067, 0, -0.87135 ], "object_category": "table", "info": { "geodesic_distance": 17.71483, "euclidean_distance": 16.69388, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.4306, 0.18397, 41.46463 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", [ "171278a4cf64429d9ab2df21adcc60d8" ], "a66ff11e61dd489994fba110d257025e", [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e" ], "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "A16K7X677N4WN6:33UKMF931BNBHG0LPG85ICPAMJFTTE", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.06676, -0.01603, 3.64976 ], "start_rotation": [ 0, 0.79349, 0, -0.60858 ], "object_category": "stool", "info": { "geodesic_distance": 21.3726, "euclidean_distance": 20.05307, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.7515, 0.18397, 0.05228 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", "path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "AKYXQY5IP7S0Z:33NF62TLXL5I0UETJDG9FFF5229KJZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.39892, 0.25942, -6.95528 ], "start_rotation": [ 0, 0.60586, 0, 0.79557 ], "object_category": "table", "info": { "geodesic_distance": 1.96702, "euclidean_distance": 1.78761, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -0.29695, 0.18397, -7.52499 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_151_newN_1", "path": [ "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "refined_path": [ "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ] }, { "episode_id": "A1NSHNH3MNFRGW:3OJSZ2ATDUZMYGSOBHN6A0RDYIW57U", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.00846, 0.18397, 27.3032 ], "start_rotation": [ 0, 0.64629, 0, 0.76309 ], "object_category": "picture", "info": { "geodesic_distance": 4.22954, "euclidean_distance": 3.96641, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.98773, 0.18397, 27.66614 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "AOG0PUCLMU0HH:3EO896NRAYYH3D4GDMU1G621LGMTJ2", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.19063, -0.01603, 1.18069 ], "start_rotation": [ 0, 0.39709, 0, -0.91778 ], "object_category": "table", "info": { "geodesic_distance": 4.76946, "euclidean_distance": 4.50188, "closest_goal_object_id": 51, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.21376, -0.01603, -2.0725 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", "path": [ "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", [ "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3TR2532VIRXB1FT4H9M85WAN46VJ60", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.48285, 0.18397, 7.31905 ], "start_rotation": [ 0, 0.98475, 0, -0.17395 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.38902, "euclidean_distance": 6.56813, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.7798, 0.10965, 1.83707 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_28_newN_0", "path": [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "ALZVG5501Y5IX:3R8YZBNQ9JLBR2BMV9B98BM5DDR7Q0", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.74434, -0.01603, 10.87352 ], "start_rotation": [ 0, 0.93289, 0, -0.36017 ], "object_category": "sofa", "info": { "geodesic_distance": 12.39077, "euclidean_distance": 10.43868, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.37373, -0.01603, 6.83163 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "854ce53825a347bba52684d20cca190b", "path": [ "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", [ "854ce53825a347bba52684d20cca190b" ], "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "AJQGWGESKQT4Y:34Z02EIMIUGA173UREKVY1N5M7QT05", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 9.358, 0.18397, 42.56826 ], "start_rotation": [ 0, 0.32549, 0, 0.94554 ], "object_category": "picture", "info": { "geodesic_distance": 17.54703, "euclidean_distance": 14.11952, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.49717, 0.18397, 29.22225 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "deb943d89d2a44ce8850edec3c7308f9", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "0_edge_59_newN_1", "0db658dc49514ca18be7b44ceb363849" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", [ "063eee6149194f3abc6f297e290068fa" ], "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", [ "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669" ], "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1" ], "0db658dc49514ca18be7b44ceb363849", [ "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] ] }, { "episode_id": "A3RR85PK3AV9TU:384PI804XU49M7QF2EF5OWRJKOLS0O", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 5.99948, 0.18397, 30.59434 ], "start_rotation": [ 0, 0.92066, 0, -0.39037 ], "object_category": "picture", "info": { "geodesic_distance": 1.86562, "euclidean_distance": 1.86562, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.96356, 0.18397, 29.24456 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "8067c649a55045d79e0ef8908e174b14", "path": [ "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A1P3HHEXWNLJMP:3OLF68YTNB4WJFJBOWCZ63KH7J7AFJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.44062, 0.18397, 11.44717 ], "start_rotation": [ 0, 0.43465, 0, -0.9006 ], "object_category": "cabinet", "info": { "geodesic_distance": 12.41992, "euclidean_distance": 9.93289, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.70065, 0.1006, 1.87327 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "e3676c851d0f434e9bbf6911f7a676fb", "path": [ "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3G5OWGKHW6OL5:3FTOP5WARHRGN47PFK6RWV0WNUQ0JB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -7.50387, -0.01603, -5.42702 ], "start_rotation": [ 0, 0.96465, 0, 0.26355 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.33535, "euclidean_distance": 8.49423, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.0769, 0.00921, -0.1386 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", "path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e" ], "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", [ "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3QUO65DNQWRA41A2T4CGTY5P6OYUOB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.31411, 0.18397, 28.9878 ], "start_rotation": [ 0, 0.18195, 0, -0.98331 ], "object_category": "table", "info": { "geodesic_distance": 19.86555, "euclidean_distance": 13.64212, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.42175, 0.18397, 41.35423 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "A29CNQYJWMJ7G9:3K2755HG5U6UHMMN8631W4SNSPQDFG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.23198, -0.01603, -1.37837 ], "start_rotation": [ 0, 0.9758, 0, 0.21867 ], "object_category": "stool", "info": { "geodesic_distance": 25.13571, "euclidean_distance": 22.63297, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.76326, 0.18397, 0.17602 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "AIIOT9A7ARQZW:3H7Z272LX9AP6BZ9ZQXURBEW339LPZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.58263, 0.18397, 44.86063 ], "start_rotation": [ 0, 0.31565, 0, -0.94888 ], "object_category": "picture", "info": { "geodesic_distance": 20.91665, "euclidean_distance": 17.06265, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.57979, 0.18397, 29.29913 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_144_newN_0", "path": [ "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_144_newN_0", "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", [ "0_edge_144_newN_0" ], "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A3FSDH6HUZPNQ8:37TD41K0AJCTGZLVEU8PJXTJFUICSJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.88655, 0.03164, -2.8949 ], "start_rotation": [ 0, 0.04024, 0, 0.99919 ], "object_category": "table", "info": { "geodesic_distance": 3.56233, "euclidean_distance": 3.56233, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.59091, 0.16685, -6.39505 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "A2TUUIV61CR0C7:374TNBHA8DYU6M7NII19LO62ECXQYE", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.86811, -0.01603, 5.32901 ], "start_rotation": [ 0, 0.90477, 0, 0.42589 ], "object_category": "chair", "info": { "geodesic_distance": 1.97573, "euclidean_distance": 1.44836, "closest_goal_object_id": 89, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -9.60993, -0.01603, 6.84692 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", "path": [ "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e" ], "refined_path": [ "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e" ] }, { "episode_id": "A29CNQYJWMJ7G9:3NQL1CS15TBMBU344HVJRB59HPHYVB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.42525, 0.34761, -3.1256 ], "start_rotation": [ 0, 0.2727, 0, 0.9621 ], "object_category": "stool", "info": { "geodesic_distance": 15.15908, "euclidean_distance": 5.48051, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.73624, 0.18397, 0.08982 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "0_edge_32_newN_2", "0_edge_136_newN_2", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", [ "c0a8647aead54f7295512181bac0440e" ], "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_136_newN_2", [ "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3RR85PK3AV9TU:3G5W44VEU9L89SOSB7V6I2NPAAPGKO", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.64351, 0.18397, 25.10549 ], "start_rotation": [ 0, 0.22704, 0, 0.97389 ], "object_category": "table", "info": { "geodesic_distance": 22.04949, "euclidean_distance": 18.14846, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.36888, 0.18397, 41.43726 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A3L8LSM7V7KX3T:3HL8HNGX474IEW96WQYZA89WIGB9FY", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.19264, 0.073, -0.78592 ], "start_rotation": [ 0, 1, 0, -0.00313 ], "object_category": "cabinet", "info": { "geodesic_distance": 17.6085, "euclidean_distance": 16.33003, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.03152, 0.03282, 0.11036 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ee62dcd77a3446028da94a7b93a2afe7", [ "44d33d6e1d08491bbbbefbbdf4153521" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3RR85PK3AV9TU:32RIADZISU7QLV8GLF270ZHW1ZPS4Q", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.17599, 0.18397, 5.50595 ], "start_rotation": [ 0, 0.84964, 0, -0.52737 ], "object_category": "table", "info": { "geodesic_distance": 5.55097, "euclidean_distance": 4.94109, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.29538, 0.02909, 6.39946 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_111_newN_2", "path": [ "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe" ], "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", [ "c0a8647aead54f7295512181bac0440e" ], "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ] ] }, { "episode_id": "AAX9LTAOIBECD:3TMSXRD2X8320DS6I2T6ZQDEYSK1WD", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.76099, -0.01603, -4.06353 ], "start_rotation": [ 0, 0.56643, 0, -0.82411 ], "object_category": "table", "info": { "geodesic_distance": 2.36189, "euclidean_distance": 2.33934, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.62164, 0.12996, -6.32664 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "A2TUUIV61CR0C7:3E4GGUZ1TAUIUYGLCSAHGYTOZHK2K6", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -4.04018, -0.01603, 1.20152 ], "start_rotation": [ 0, 0.93351, 0, -0.35855 ], "object_category": "sofa", "info": { "geodesic_distance": 8.16323, "euclidean_distance": 7.58057, "closest_goal_object_id": 38, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -7.53994, -0.01603, -5.52509 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", "path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ] }, { "episode_id": "A29CNQYJWMJ7G9:33OOO72IVJOUVZYA3UDFT2P6Y45TCZ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.29733, -0.01603, 10.19195 ], "start_rotation": [ 0, 0.99868, 0, 0.05129 ], "object_category": "stool", "info": { "geodesic_distance": 23.30943, "euclidean_distance": 21.94526, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.7427, 0.18397, 0.05902 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "3875b9ad36924b869985fed0412bc926", "path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "AKYXQY5IP7S0Z:34Q075JO1ZG9SNRLPV0LSV49GZK01U", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.26894, 0.18397, 3.58557 ], "start_rotation": [ 0, 0.98353, 0, 0.18077 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.68216, "euclidean_distance": 3.8522, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.75283, 0.10657, 1.79477 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_136_newN_2", "path": [ "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2" ], "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2TUUIV61CR0C7:32Q90QCQ1UOAPES15C5IIZ2CJCIKE3", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.13956, -0.01603, -3.66343 ], "start_rotation": [ 0, 0.29643, 0, -0.95506 ], "object_category": "table", "info": { "geodesic_distance": 3.36954, "euclidean_distance": 3.14874, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.62331, 0.16835, -6.40623 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", "path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0" ], "refined_path": [ "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0" ] }, { "episode_id": "AIOOOO5OXWXKM:39KFRKBFIPYRLAU73595WJB1LQEYOR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.50727, -0.01603, -4.32805 ], "start_rotation": [ 0, 0.08478, 0, -0.9964 ], "object_category": "table", "info": { "geodesic_distance": 2.45243, "euclidean_distance": 2.26978, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.67588, 0.16529, -6.41307 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", "path": [ "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "A272X64FOZFYLB:3QILPRALQ7YUOJ3DPMBYIHNU01D8ND", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.30664, 0.12917, -0.65968 ], "start_rotation": [ 0, 0.63748, 0, -0.77046 ], "object_category": "cabinet", "info": { "geodesic_distance": 17.78424, "euclidean_distance": 16.43801, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.17597, 0.0657, -0.00023 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "0_edge_32_newN_2", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e" ], "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", [ "c0a8647aead54f7295512181bac0440e" ], "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", [ "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", [ "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A1NSHNH3MNFRGW:3L4D84MIL1VRY4DLDSDC2NZCWZ6JH7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.44964, 0.18397, 24.54978 ], "start_rotation": [ 0, 0.98398, 0, 0.17828 ], "object_category": "sofa", "info": { "geodesic_distance": 26.60111, "euclidean_distance": 21.82704, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.45757, -0.01603, 6.83831 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", [ "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa" ], "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3GDTJDAPVWEO61IDDLWY52YUXBDM83", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.97203, 0.18397, 25.57364 ], "start_rotation": [ 0, 0.87251, 0, -0.4886 ], "object_category": "table", "info": { "geodesic_distance": 16.86236, "euclidean_distance": 16.00018, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.42194, 0.18397, 41.47341 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", "path": [ "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0_edge_59_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", [ "063eee6149194f3abc6f297e290068fa" ], "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", [ "544ccad03803403c97721228e7cc9669" ], "0_edge_59_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3Z7ISHFUH2YO58HWSAMSD4U4T24Z8Z", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.64767, 0.18397, 27.58197 ], "start_rotation": [ 0, 0.81926, 0, -0.57342 ], "object_category": "picture", "info": { "geodesic_distance": 4.89728, "euclidean_distance": 4.58014, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.93129, 0.18397, 27.68967 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14" ] }, { "episode_id": "AIIOT9A7ARQZW:3MAOD8E57SDK3K4LXUNQYG4OAWXXNE", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 10.23537, 0.18397, 44.45275 ], "start_rotation": [ 0, 0.4483, 0, 0.89388 ], "object_category": "picture", "info": { "geodesic_distance": 18.19419, "euclidean_distance": 16.19214, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.53806, 0.18397, 29.27486 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_84_newN_4", "path": [ "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", [ "5fb68178835247328ebd444ea4207d64" ], "122154d283494710ae5e592fc99bf8e1", [ "5fb68178835247328ebd444ea4207d64" ], "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "AZPZDX26SYMFY:3KRVW3HTZPO6PLXMRJ23MTYWQQ4MSC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.75901, 0.18397, 17.24939 ], "start_rotation": [ 0, 0.25328, 0, -0.96739 ], "object_category": "sofa", "info": { "geodesic_distance": 19.64525, "euclidean_distance": 16.73812, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.44219, -0.01603, 6.75764 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "1f6913d742e04627b35d285907b0c41c", "path": [ "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", [ "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0" ], "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A3GWRDHAURRNK6:3M23Y66PO4A40ICU43VMXX19HN46SA", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.995, -0.01603, 6.08466 ], "start_rotation": [ 0, 0.84239, 0, -0.53887 ], "object_category": "picture", "info": { "geodesic_distance": 28.87408, "euclidean_distance": 26.37174, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.01353, 0.18397, 27.73452 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", [ "2ad491d5db914f9689bfec52a694dd18" ], "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A29CNQYJWMJ7G9:38BQUHLA9Y3RRT5TK2LU2OOVQ3EOMV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.35544, -0.01603, 2.1824 ], "start_rotation": [ 0, 0.10763, 0, -0.99419 ], "object_category": "stool", "info": { "geodesic_distance": 27.00701, "euclidean_distance": 25.24975, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.78263, 0.18397, 0.16396 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", "path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "95402f398bab4d1f83c68015eccd5cc8", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A29CNQYJWMJ7G9:3SNLUL3WO6Q2YG75GCWO1H1UU35ULR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.80284, -0.01603, 3.34032 ], "start_rotation": [ 0, 0.9393, 0, 0.34309 ], "object_category": "stool", "info": { "geodesic_distance": 22.12529, "euclidean_distance": 20.26205, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.66688, 0.18397, 0.14874 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", "path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "0_edge_32_newN_2", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", [ "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", [ "c0a8647aead54f7295512181bac0440e" ], "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A29CNQYJWMJ7G9:3EWIJTFFVQA8COLX1JV0ZFN35HYE0J", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.43552, -0.01603, 2.26245 ], "start_rotation": [ 0, 0.82065, 0, 0.57143 ], "object_category": "picture", "info": { "geodesic_distance": 27.59657, "euclidean_distance": 25.84349, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.98337, 0.18397, 27.65462 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "ee62dcd77a3446028da94a7b93a2afe7", "path": [ "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A2DDPSXH2X96RF:3G0WWMR1UXN0UN39BGSY488UW4UNQU", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.46327, -0.01603, -4.7983 ], "start_rotation": [ 0, 0.58231, 0, -0.81296 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.48963, "euclidean_distance": 5.34731, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.06176, -0.00617, -0.22197 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "d260eaeca5694719868f318ab468be27", "path": [ "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "0_edge_2_newN_1", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_2_newN_1", [ "9777c924f783428ca832493cef2b5259" ], "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2TUUIV61CR0C7:3JCG6DTRV5TLXKG1R8KF8230ETFQQP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.72419, 0.18397, 1.91317 ], "start_rotation": [ 0, 0.2117, 0, -0.97734 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.04682, "euclidean_distance": 3.90243, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.77666, 0.10929, 1.91996 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", "path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3B3WTRP3DD5YD2XU8VJSQPF7BCR921", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.64648, -0.01603, 8.10158 ], "start_rotation": [ 0, 0.52965, 0, 0.84822 ], "object_category": "chair", "info": { "geodesic_distance": 5.87629, "euclidean_distance": 2.39337, "closest_goal_object_id": 89, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -9.61727, -0.01603, 6.77515 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0" ] }, { "episode_id": "AIIOT9A7ARQZW:3DUZQ9U6SORPF8RV5B3U9PH9HL6VSW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.2128, 0.18397, 46.68659 ], "start_rotation": [ 0, 0.40179, 0, 0.91573 ], "object_category": "picture", "info": { "geodesic_distance": 19.64519, "euclidean_distance": 17.98365, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.54871, 0.18397, 29.33837 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "aa3049db9ce543e0bb9456793ad1ea2e", "path": [ "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A9K0CV70JWG1W:3V0Z7YWSI03WA9AXBWOOI745FFL2VM", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 3.33541, 0.18397, 22.77946 ], "start_rotation": [ 0, 0.81836, 0, -0.5747 ], "object_category": "sofa", "info": { "geodesic_distance": 25.72968, "euclidean_distance": 22.35124, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.48299, -0.01603, 6.81664 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e" ], "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "AOMFEAWQHU3D8:33M4IA01QI45IIWDQ147709XUBKXRH", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 14.34929, 0.18397, 44.17903 ], "start_rotation": [ 0, 0.38129, 0, -0.92446 ], "object_category": "picture", "info": { "geodesic_distance": 22.24753, "euclidean_distance": 17.84259, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.57886, 0.18397, 29.28539 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A16K7X677N4WN6:3VD82FOHKSREI7T27DRGZSJJZN6OC8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -12.57704, -0.01603, 6.83059 ], "start_rotation": [ 0, 0.29052, 0, -0.95687 ], "object_category": "chair", "info": { "geodesic_distance": 4.88231, "euclidean_distance": 2.9152, "closest_goal_object_id": 89, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -9.5249, -0.01603, 6.74803 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ] ] }, { "episode_id": "A29CNQYJWMJ7G9:3WETL7AQWVB4XXR195KGXJFY9HS53R", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.31563, -0.01603, 1.83838 ], "start_rotation": [ 0, 0.08441, 0, 0.99643 ], "object_category": "stool", "info": { "geodesic_distance": 15.49941, "euclidean_distance": 13.60238, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.71601, 0.18397, 0.07582 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", "path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A29CNQYJWMJ7G9:3N4BPTXIOAVREAPNVCKNMHOGJ9RUK7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.12915, -0.01603, -6.68729 ], "start_rotation": [ 0, 0.91736, 0, -0.39805 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.50243, "euclidean_distance": 8.88286, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.19761, 0.05272, -0.13938 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", "path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e" ], "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A272X64FOZFYLB:3JAOYWH7VK74EOJ2I11X5LEHYYJ9LI", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.02597, 0.23129, -2.30029 ], "start_rotation": [ 0, 0.76223, 0, 0.6473 ], "object_category": "table", "info": { "geodesic_distance": 9.20002, "euclidean_distance": 8.61204, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -15.52844, 0.03034, 5.91603 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A74PT3GRDMEZ:3EFE17QCRE8KX7WB0MMQUOQ094JHSC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -12.87411, -0.01603, 7.36468 ], "start_rotation": [ 0, 0.99432, 0, -0.10643 ], "object_category": "chair", "info": { "geodesic_distance": 5.25571, "euclidean_distance": 4.64547, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.40227, 0.12889, 6.01806 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", [ "3a5f7c6c250e4d56b96ff967489de836" ], "c835bc9904a846ce88571c2ee3557af0", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:36W0OB37HYHHYJIPVEGYQHN3S93HZD", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.99066, 0.18397, 8.04798 ], "start_rotation": [ 0, 0.92556, 0, 0.3786 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.31807, "euclidean_distance": 6.94702, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.68074, 0.09833, 1.96881 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_28_newN_0", "path": [ "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A29CNQYJWMJ7G9:3LO69W1SU5GJTY6AW777X2042JKGL2", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.6265, 0.18397, 2.3077 ], "start_rotation": [ 0, 0.74929, 0, 0.66225 ], "object_category": "stool", "info": { "geodesic_distance": 10.19584, "euclidean_distance": 4.70646, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.77476, 0.18397, 0.16433 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "0_edge_31_newN_0", "path": [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", [ "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3C7COPV48I37D:3OVHNO1VE840M3DN9IX8ZW84LSZZDG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.995, -0.01603, 6.08466 ], "start_rotation": [ 0, 0.84239, 0, -0.53887 ], "object_category": "picture", "info": { "geodesic_distance": 28.87408, "euclidean_distance": 26.37174, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.01353, 0.18397, 27.73452 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", [ "2ad491d5db914f9689bfec52a694dd18" ], "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", [ "5fb26cecda204c40ae520fbda21ce82e" ], "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", [ "a66ff11e61dd489994fba110d257025e" ], "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A2L26DMSVUEDP6:30ZX6P7VFAYNJEA3U7A5FJTBL2NJ2C", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -12.35023, -0.01603, 7.84794 ], "start_rotation": [ 0, 0.105, 0, 0.99447 ], "object_category": "table", "info": { "geodesic_distance": 3.04987, "euclidean_distance": 2.58095, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.48954, -0.01603, 6.20954 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ] ] }, { "episode_id": "A2OFN0A5CPLH57:3I3WADAZ9S7TJMKNS348LMD8QIA5OC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.56517, 0.18397, 16.86381 ], "start_rotation": [ 0, 0.93271, 0, -0.36064 ], "object_category": "cabinet", "info": { "geodesic_distance": 22.76483, "euclidean_distance": 22.46114, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.16825, 0.1639, 0.67513 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "1f6913d742e04627b35d285907b0c41c", "path": [ "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c" ], "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A29CNQYJWMJ7G9:3GDTJDAPVWEO61IDDLWY52YVBY18M3", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.0326, -0.01603, 0.00439 ], "start_rotation": [ 0, 0.84912, 0, -0.52819 ], "object_category": "stool", "info": { "geodesic_distance": 25.95766, "euclidean_distance": 23.84594, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.75467, 0.18397, 0.14762 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999", [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0" ], "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] ] }, { "episode_id": "APGX2WZ59OWDN:3EF8EXOTT3YGUTS7B3ARA0J5FBMJ1M", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.04253, 0.18397, 7.11727 ], "start_rotation": [ 0, 0.79689, 0, 0.60413 ], "object_category": "chair", "info": { "geodesic_distance": 1.19471, "euclidean_distance": 1.12682, "closest_goal_object_id": 34, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -19.89784, 0.18397, 7.28071 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_28_newN_0", "path": [ "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "c0a8647aead54f7295512181bac0440e" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ], "refined_path": [ "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0" ], "c0a8647aead54f7295512181bac0440e" ] }, { "episode_id": "A19C2SO0IMRZ1L:33C7UALJVN1RACWOKZD0LAASGL618N", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.47334, -0.01603, 8.6764 ], "start_rotation": [ 0, 0.47371, 0, -0.88068 ], "object_category": "sofa", "info": { "geodesic_distance": 11.07468, "euclidean_distance": 10.08318, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.41012, -0.01603, 6.90511 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "3875b9ad36924b869985fed0412bc926", "path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3C2NJ6JBKCKJ241O952X8QAREISN2U", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -14.35375, 0.14358, 0.09092 ], "start_rotation": [ 0, 0.6132, 0, -0.78993 ], "object_category": "table", "info": { "geodesic_distance": 1.87833, "euclidean_distance": 1.76857, "closest_goal_object_id": 51, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -13.73929, -0.01603, -1.64004 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "14c540221298447da11bf71477d7fbf1", "path": [ "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "A3GWRDHAURRNK6:3DL65MZB8FIS6GGDDZOKUGP4CMVCE4", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.468, 0.18397, 27.83649 ], "start_rotation": [ 0, 0.8067, 0, 0.59096 ], "object_category": "picture", "info": { "geodesic_distance": 5.74854, "euclidean_distance": 5.3958, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.9768, 0.18397, 27.84463 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A3L8LSM7V7KX3T:33F859I568GLGLF9P00V4ZGZOVFBHY", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.47368, -0.01603, 6.93878 ], "start_rotation": [ 0, 0.75485, 0, -0.6559 ], "object_category": "table", "info": { "geodesic_distance": 6.58242, "euclidean_distance": 4.99557, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.47843, -0.01603, 6.33477 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", "path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "AKYXQY5IP7S0Z:3OONKJ5DKEMV821WTDVLO8D00HNBOG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.32125, 0.18397, 17.82885 ], "start_rotation": [ 0, 0.96202, 0, -0.27299 ], "object_category": "sofa", "info": { "geodesic_distance": 20.99605, "euclidean_distance": 18.33146, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.4217, -0.01603, 6.80707 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "b3fdc3c598324cc5bbaf8c704c03a8bf", "path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "0_edge_151_newN_1", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "0_edge_151_newN_1", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0" ], "refined_path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "f40bd40958c84aff92ba792033933f3d", "ff643dfda6de401081f3081139c74843", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "0_edge_151_newN_1", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", [ "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0" ] ] }, { "episode_id": "A29CNQYJWMJ7G9:3NAPMVF0ZYIUZJ91TYL8CTO2U9L27Q", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -6.2127, -0.01603, 4.36433 ], "start_rotation": [ 0, 0.90715, 0, 0.4208 ], "object_category": "stool", "info": { "geodesic_distance": 18.21312, "euclidean_distance": 17.12577, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.72058, 0.18397, 0.08108 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "0_edge_129_newN_0", "path": [ "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A2DDPSXH2X96RF:3UXUOQ9OKG0J4M456DENIB7ZS7VA7R", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -8.00504, -0.01603, -5.82095 ], "start_rotation": [ 0, 0.43646, 0, 0.89973 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.83438, "euclidean_distance": 8.36378, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.14219, 0.02992, -0.15789 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", "path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669" ], "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3IRIK4HM3CNOT1NY7H5MISXSENS6CH", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -13.34582, -0.01603, 4.04107 ], "start_rotation": [ 0, 0.13126, 0, 0.99135 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.34303, "euclidean_distance": 3.1807, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -15.39389, -0.01603, 1.5991 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AKYXQY5IP7S0Z:352YTHGROXG1VMU0ALQ8WLATE324HP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.34214, 0.18397, 26.66979 ], "start_rotation": [ 0, 0.71315, 0, -0.70102 ], "object_category": "chair", "info": { "geodesic_distance": 16.11472, "euclidean_distance": 14.65318, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.93014, 0.18397, 40.95646 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "A29CNQYJWMJ7G9:3LRKMWOKB7KDJTF7CTDR3DH173V2ZK", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -4.21719, -0.01603, 0.90344 ], "start_rotation": [ 0, 0.59193, 0, 0.80599 ], "object_category": "stool", "info": { "geodesic_distance": 20.64712, "euclidean_distance": 18.61095, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.73501, 0.18397, 0.05721 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", "path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A1R0689JPSQ3OF:3V0Z7YWSI03WA9AXBWOOI7440M8V2Z", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.46428, 0.26607, -2.95147 ], "start_rotation": [ 0, 0.89889, 0, 0.43817 ], "object_category": "chair", "info": { "geodesic_distance": 8.93388, "euclidean_distance": 7.5599, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.73728, 0.18397, 4.6929 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0" ] }, { "episode_id": "A35NXCD0VE2I69:3QY7M81QH9PPGZDRI4RCCPAVXM1K7Y", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.08935, 0.18397, 25.9699 ], "start_rotation": [ 0, 0.53582, 0, 0.84433 ], "object_category": "sofa", "info": { "geodesic_distance": 28.07835, "euclidean_distance": 22.69328, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.51963, -0.01603, 6.88268 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "0_edge_3_newN_0", "0_edge_0_newN_1" ] }, { "episode_id": "A21ZK49H9LSSRY:3TEM0PF1Q703KI7X5OKGTX5I3Z0D0E", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.80799, 0.18397, 5.54884 ], "start_rotation": [ 0, 0.65462, 0, -0.75595 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.37614, "euclidean_distance": 5.42705, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.78075, 0.10976, 1.86883 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_32_newN_2", "path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", [ "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0" ], "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A74PT3GRDMEZ:3FTF2T8WLTLKPIV1MF8ZEWVXW47W9G", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 8.77157, 0.18397, 56.51436 ], "start_rotation": [ 0, 0.91937, 0, 0.39339 ], "object_category": "table", "info": { "geodesic_distance": 1.23146, "euclidean_distance": 0.99791, "closest_goal_object_id": 245, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 9.68337, 0.18397, 56.0698 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "6488e19b0c5249eabb792c2bbebf8137", "path": [ "6488e19b0c5249eabb792c2bbebf8137", "a31586a01b5947c89f02d9fa852b0d97", "0_edge_90_newN_1" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "6488e19b0c5249eabb792c2bbebf8137", "a31586a01b5947c89f02d9fa852b0d97", "0_edge_90_newN_1", "a31586a01b5947c89f02d9fa852b0d97", "6488e19b0c5249eabb792c2bbebf8137" ], "refined_path": [ "6488e19b0c5249eabb792c2bbebf8137", "a31586a01b5947c89f02d9fa852b0d97", "0_edge_90_newN_1", [ "a31586a01b5947c89f02d9fa852b0d97", "6488e19b0c5249eabb792c2bbebf8137" ] ] }, { "episode_id": "A1RQLE4ZMTU22A:3RKNTXVS3O1MLZMM4FGGFZNP188A4G", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.57601, 0.18397, 0.96733 ], "start_rotation": [ 0, 0.53954, 0, 0.84196 ], "object_category": "chair", "info": { "geodesic_distance": 4.68494, "euclidean_distance": 3.6931, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.82726, 0.18397, 4.6626 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_110_newN_0", "path": [ "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0" ], "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3RJSC4XJ12X8G5S4QI2XVLHR63L050", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.63815, 0.18397, 26.26365 ], "start_rotation": [ 0, 0.32729, 0, 0.94492 ], "object_category": "chair", "info": { "geodesic_distance": 17.93361, "euclidean_distance": 16.39873, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.07319, -0.01603, 9.96597 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", [ "063eee6149194f3abc6f297e290068fa" ], "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e" ] }, { "episode_id": "A21ZK49H9LSSRY:3E1QT0TDFRC2AISMS6Y6D9RETDWI8N", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.77248, 0.18397, 25.0559 ], "start_rotation": [ 0, 0.8189, 0, -0.57393 ], "object_category": "chair", "info": { "geodesic_distance": 17.55159, "euclidean_distance": 15.07056, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.04517, -0.01603, 10.00946 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e" ], "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A29CNQYJWMJ7G9:3M1CVSFP628TA49K2CNTI2OUX6YQAY", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.00531, -0.01603, -5.17756 ], "start_rotation": [ 0, 0.734, 0, 0.67915 ], "object_category": "stool", "info": { "geodesic_distance": 20.74372, "euclidean_distance": 13.87419, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.75536, 0.18397, 0.11965 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "0_edge_1_newN_0", "path": [ "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "0_edge_47_newN_1", "11_edge_36_newN_0", "0_edge_47_newN_0", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "a9db6e3e630f4490b8aaedc387b3adad", "0_edge_2_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "35e62dc086ba4cd598a30fd3ec926a18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "deb943d89d2a44ce8850edec3c7308f9", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "0_edge_111_newN_2", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_98_newN_1", "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_36_newN_1", "0_edge_36_newN_2", "cb5f8c9a4a84477f99637276f00cfb2b", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_47_newN_1", "11_edge_36_newN_0", "0_edge_47_newN_0", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27", "0_edge_2_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_98_newN_1", "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_36_newN_1", "0_edge_36_newN_2", "cb5f8c9a4a84477f99637276f00cfb2b", "0_edge_36_newN_2", "0_edge_36_newN_1", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", [ "1611d119a70b46869c6e12117aa71972" ], "0_edge_47_newN_1", "11_edge_36_newN_0", "0_edge_47_newN_0", "daa0aa844488426a9174a7051698a417", "63ac2b2ef1e0457385976d17655da263", "0_edge_130_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0", [ "bb55c5f20f784105bae11a40f33cf7d9", "10_edge_158_newN_0", "0_edge_130_newN_1", "10_edge_158_newN_0", "bb55c5f20f784105bae11a40f33cf7d9", "0_edge_151_newN_0" ], "0_edge_151_newN_1", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "ff643dfda6de401081f3081139c74843", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", [ "9777c924f783428ca832493cef2b5259" ], "a9db6e3e630f4490b8aaedc387b3adad", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_2_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", [ "d260eaeca5694719868f318ab468be27", "0_edge_2_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad" ], "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "87870f8cba81492b8ef631196a2f6560" ], "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560" ], "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_111_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "2f366c82ffe246d9a3cc6d8bcca862d4" ], "0_edge_98_newN_1", "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_36_newN_1", "0_edge_36_newN_2", "cb5f8c9a4a84477f99637276f00cfb2b", [ "0_edge_36_newN_2", "0_edge_36_newN_1", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_98_newN_3", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0" ], "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", [ "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404" ], "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3ITXP059PYMGODR1OMPB616FMWAJS6", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.25263, 0.18397, 22.31274 ], "start_rotation": [ 0, 0.03819, 0, -0.99927 ], "object_category": "sofa", "info": { "geodesic_distance": 24.83146, "euclidean_distance": 21.26208, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.43571, -0.01603, 6.79012 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ] }, { "episode_id": "A3HL2LL0LEPZT8:3OLF68YTNB4WJFJBOWCZ63KH4KIFAY", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.7294, 0.18397, 28.76913 ], "start_rotation": [ 0, 0.99997, 0, 0.00735 ], "object_category": "picture", "info": { "geodesic_distance": 6.25615, "euclidean_distance": 5.74068, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.90961, 0.18397, 27.69337 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] ] }, { "episode_id": "A35CL66BEUSJ5Z:34X6J5FLPV14BXCOWI06B1RE0YSQJ3", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.97879, -0.01603, -3.44345 ], "start_rotation": [ 0, 0.18902, 0, -0.98197 ], "object_category": "sofa", "info": { "geodesic_distance": 4.39489, "euclidean_distance": 4.18263, "closest_goal_object_id": 38, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -7.4866, -0.01603, -5.42037 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", "path": [ "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "0_edge_2_newN_1", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", [ "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "0_edge_2_newN_1", [ "9777c924f783428ca832493cef2b5259" ], "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A16K7X677N4WN6:37UQDCYH6ZY3WA73H85JEYLDU77V7N", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.31639, 0.05634, -2.7018 ], "start_rotation": [ 0, 0.9279, 0, -0.37282 ], "object_category": "stool", "info": { "geodesic_distance": 26.13417, "euclidean_distance": 23.30459, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.80211, 0.18397, 0.09127 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", "path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "ff643dfda6de401081f3081139c74843", "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A29CNQYJWMJ7G9:3FTF2T8WLTLKPIV1MF8ZEWVXT669WT", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.19948, 0.18397, 27.64919 ], "start_rotation": [ 0, 0.84754, 0, 0.53074 ], "object_category": "picture", "info": { "geodesic_distance": 4.07746, "euclidean_distance": 3.73091, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.91567, 0.18397, 27.7163 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", [ "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ] ] }, { "episode_id": "A1NSHNH3MNFRGW:308XBLVESK7Y5FTCL5CPI3I5B3ZRBV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.10482, 0.18397, 18.17769 ], "start_rotation": [ 0, 0.00357, 0, 0.99999 ], "object_category": "sofa", "info": { "geodesic_distance": 21.15373, "euclidean_distance": 18.37005, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.4561, -0.01603, 6.83092 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "b3fdc3c598324cc5bbaf8c704c03a8bf", "path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "A2TUUIV61CR0C7:3ZOTGHDK5KEUPOIY4ZHGEXN0481OSS", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 4.78093, 0.18397, 39.16782 ], "start_rotation": [ 0, 0.66814, 0, -0.74404 ], "object_category": "table", "info": { "geodesic_distance": 2.43549, "euclidean_distance": 2.26699, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.4637, 0.18397, 41.43137 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "a39bc73eb9f64cbaabfca03100692305", "path": [ "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A29CNQYJWMJ7G9:3FFJ6VRIL3RKSTNJX2LRKULWBRE0I1", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.92192, 0.18397, 7.77232 ], "start_rotation": [ 0, 0.98239, 0, -0.18682 ], "object_category": "stool", "info": { "geodesic_distance": 8.83497, "euclidean_distance": 8.14672, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.63489, 0.18397, 0.16767 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "0_edge_28_newN_0", "path": [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A21ZK49H9LSSRY:31UV0MXWNSFJN09KU8R31PHNSO5I5Y", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -17.54728, 0.19655, -2.30095 ], "start_rotation": [ 0, 0.89429, 0, -0.44749 ], "object_category": "sofa", "info": { "geodesic_distance": 9.79504, "euclidean_distance": 8.87152, "closest_goal_object_id": 49, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.48253, 0.0436, 6.39501 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", "path": [ "477dbfb712f242958420a83d490a70ed", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "0_edge_110_newN_0", "0_edge_31_newN_0", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "477dbfb712f242958420a83d490a70ed", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "refined_path": [ "477dbfb712f242958420a83d490a70ed", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "477dbfb712f242958420a83d490a70ed" ], "0_edge_110_newN_0", "0_edge_31_newN_0", [ "a595e80625ce4c808cf713581ce1c0da" ], "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ] }, { "episode_id": "A2DDPSXH2X96RF:3JNQLM5FT6PTE4Y3XSMIVY62B3L2LY", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -19.92411, 0.18397, 5.18875 ], "start_rotation": [ 0, 0.78092, 0, 0.62463 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.44294, "euclidean_distance": 4.54601, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.75585, 0.10691, 1.76865 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "4534a8c9651e4ce891970e43e2724dfe", "path": [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", [ "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A30AGR5KF8IEL:3AAJC4I4FIVDPPDFJEJJ2U3HO0BJZ3", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -22.38539, 0.18397, -1.12653 ], "start_rotation": [ 0, 0.935, 0, -0.35464 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.50409, "euclidean_distance": 6.31684, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.73956, 0.10505, 1.77865 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", "path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3MD9PLUKKKH98F40YCBBV1KY1A4NZJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.60485, 0.18397, 23.94368 ], "start_rotation": [ 0, 0.88195, 0, -0.47134 ], "object_category": "chair", "info": { "geodesic_distance": 16.69079, "euclidean_distance": 13.97806, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.05043, -0.01603, 9.9511 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "A3KC26Z78FBOJT:3I7DHKZYGP3ZD97UT0LIYS4UYJ05FB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.87076, -0.01603, -2.90572 ], "start_rotation": [ 0, 0.89263, 0, -0.45078 ], "object_category": "sofa", "info": { "geodesic_distance": 1.84455, "euclidean_distance": 1.62191, "closest_goal_object_id": 38, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -10.81865, -0.01603, -4.33989 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "0_edge_2_newN_1", "path": [ "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A2TUUIV61CR0C7:33C7UALJVN1RACWOKZD0LAASGLN184", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.12952, 0.18397, 23.49792 ], "start_rotation": [ 0, 0.9854, 0, 0.17027 ], "object_category": "table", "info": { "geodesic_distance": 21.48217, "euclidean_distance": 18.74136, "closest_goal_object_id": 103, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.19899, -0.01603, 4.6954 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "AD1ILDUXZHASF:3LO69W1SU5GJTY6AW777X204Y0VGL7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -13.81794, 0.35033, -5.44972 ], "start_rotation": [ 0, 0.59633, 0, 0.80274 ], "object_category": "chair", "info": { "geodesic_distance": 1.38183, "euclidean_distance": 1.28722, "closest_goal_object_id": 45, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.67111, 0.18397, -5.14257 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_3_newN_2", "path": [ "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27", "0_edge_0_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27", "0_edge_0_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2" ], "refined_path": [ "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27", "0_edge_0_newN_1", [ "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2" ] ] }, { "episode_id": "A3RR85PK3AV9TU:3OB0CAO74JSHTT8KZSEFCAE1NR1YHU", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 13.93159, 0.18397, 44.94706 ], "start_rotation": [ 0, 0.89577, 0, 0.44452 ], "object_category": "picture", "info": { "geodesic_distance": 21.9187, "euclidean_distance": 18.26712, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.57363, 0.18397, 29.3921 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A272X64FOZFYLB:33IZTU6J834HJXWQ5Q4CXAEUXUOXS7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.88316, 0.18397, 26.53024 ], "start_rotation": [ 0, 0.23552, 0, -0.97187 ], "object_category": "chair", "info": { "geodesic_distance": 18.78043, "euclidean_distance": 16.53256, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.88625, -0.01603, 9.9746 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "A2DDPSXH2X96RF:3CP1TO84PV4FCFVI556BE9A5PDH529", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -7.8154, -0.01603, -6.38945 ], "start_rotation": [ 0, 0.27258, 0, -0.96213 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.30709, "euclidean_distance": 8.89077, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.16097, 0.03488, -0.1701 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", "path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2OFN0A5CPLH57:378XPAWRUEGGT6L1P4IK90X9KBKAIS", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.22427, 0.18397, 25.70916 ], "start_rotation": [ 0, 0.90633, 0, -0.42257 ], "object_category": "table", "info": { "geodesic_distance": 19.55969, "euclidean_distance": 16.64942, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.39096, 0.18397, 41.39403 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", [ "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A29CNQYJWMJ7G9:33IZTU6J834HJXWQ5Q4CXAETG64SXN", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -20.47825, 0.18397, 8.51873 ], "start_rotation": [ 0, 0.23385, 0, -0.97227 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.99488, "euclidean_distance": 7.59147, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.8166, 0.11385, 1.80666 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "2f366c82ffe246d9a3cc6d8bcca862d4", "path": [ "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed" ], "refined_path": [ "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed" ] }, { "episode_id": "A2TUUIV61CR0C7:3ZR9AIQJUDCQKMO4CDJNQTBD67Q04V", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.42724, 0.18397, 24.16517 ], "start_rotation": [ 0, 0.47291, 0, 0.88111 ], "object_category": "chair", "info": { "geodesic_distance": 15.39094, "euclidean_distance": 15.13456, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.01233, -0.01603, 9.98314 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", [ "deb943d89d2a44ce8850edec3c7308f9" ], "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1", [ "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad" ] }, { "episode_id": "A29CNQYJWMJ7G9:3R6BYFZZP9F8FSR4Z64DQBVF568XF3", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.03018, -0.01603, -0.3503 ], "start_rotation": [ 0, 0.91693, 0, 0.39905 ], "object_category": "stool", "info": { "geodesic_distance": 25.01671, "euclidean_distance": 22.78834, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.79608, 0.18397, 0.07451 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3GWRDHAURRNK6:3IKZ72A5B6J33YD0X0H4S94GP2EFNL", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.146, 0.18397, 22.73212 ], "start_rotation": [ 0, 0.99453, 0, -0.10446 ], "object_category": "cabinet", "info": { "geodesic_distance": 27.99253, "euclidean_distance": 26.01827, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.15277, 0.16137, 0.69556 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", [ "063eee6149194f3abc6f297e290068fa" ], "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0" ], "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3ZAZR5XV03LQHB799M2XFQQM0NJCZF", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.01769, 0.18397, 28.20655 ], "start_rotation": [ 0, 0.56139, 0, 0.82755 ], "object_category": "table", "info": { "geodesic_distance": 18.3291, "euclidean_distance": 13.88417, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.43375, 0.18397, 41.44617 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "0_edge_59_newN_0", "63b2f39fcc844216ada0b28c0873ae61", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "A16K7X677N4WN6:32EYX73OY2CD1E2ILWTKNTAUHCCURG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.74953, -0.01603, -0.63065 ], "start_rotation": [ 0, 0.95028, 0, 0.3114 ], "object_category": "stool", "info": { "geodesic_distance": 15.25294, "euclidean_distance": 11.09219, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.74623, 0.18397, 0.14411 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "87870f8cba81492b8ef631196a2f6560", "path": [ "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "0_edge_45_newN_0", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_11_newN_0", "35e62dc086ba4cd598a30fd3ec926a18", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "0_edge_32_newN_2", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_32_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_45_newN_0", [ "9777c924f783428ca832493cef2b5259" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263", "daa0aa844488426a9174a7051698a417", "0_edge_47_newN_0", "11_edge_36_newN_0", "0_edge_47_newN_1", "1611d119a70b46869c6e12117aa71972", [ "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259" ], "0_edge_11_newN_0", [ "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560" ], "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560" ], "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", [ "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", [ "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e" ], "4534a8c9651e4ce891970e43e2724dfe", "0_edge_111_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_32_newN_2", [ "4534a8c9651e4ce891970e43e2724dfe" ], "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A272X64FOZFYLB:3EJJQNKU9T88WSWYLXML4EL36K4RHJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.2144, 0.18397, -6.16391 ], "start_rotation": [ 0, 0.54489, 0, 0.83851 ], "object_category": "table", "info": { "geodesic_distance": 2.03103, "euclidean_distance": 1.37599, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.63406, 0.1716, -6.41563 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_130_newN_0", "path": [ "0_edge_130_newN_0", "63ac2b2ef1e0457385976d17655da263", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_130_newN_0", "63ac2b2ef1e0457385976d17655da263", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ], "refined_path": [ "0_edge_130_newN_0", "63ac2b2ef1e0457385976d17655da263", "5fb26cecda204c40ae520fbda21ce82e", "0_edge_151_newN_2", [ "5fb26cecda204c40ae520fbda21ce82e" ], "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259" ] }, { "episode_id": "AOWW3URQNRJ6U:3SB4CE2TJXYDJ1AWOQILCAKO8F3AXP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.5596, 0.18397, 24.03946 ], "start_rotation": [ 0, 0.39463, 0, -0.91884 ], "object_category": "chair", "info": { "geodesic_distance": 15.46234, "euclidean_distance": 14.41958, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.01615, -0.01603, 9.94381 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "a9db6e3e630f4490b8aaedc387b3adad", "0_edge_2_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "0_edge_2_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_11_newN_0", [ "9777c924f783428ca832493cef2b5259" ], "a9db6e3e630f4490b8aaedc387b3adad", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_2_newN_1" ] }, { "episode_id": "AOG0PUCLMU0HH:3WAKVUDHUYJ3JVI3CIVEICJUGY1U7W", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 6.45193, 0.18397, 44.19498 ], "start_rotation": [ 0, 0.91801, 0, 0.39657 ], "object_category": "chair", "info": { "geodesic_distance": 1.35366, "euclidean_distance": 1.15215, "closest_goal_object_id": 250, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 7.48866, 0.18397, 44.81503 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_22_newN_1", "path": [ "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "AJQGWGESKQT4Y:32AT8R96GNCP2T2V0LTPD3FQ3CGSUJ", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.01251, 0.18397, 26.39005 ], "start_rotation": [ 0, 0.02673, 0, -0.99964 ], "object_category": "chair", "info": { "geodesic_distance": 18.73917, "euclidean_distance": 16.38445, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -3.97507, -0.01603, 9.91621 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "AQ0YWEW29GSIJ:3SB4CE2TJXYDJ1AWOQILCAKO7EPAX8", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -14.57705, 0.35362, -5.11505 ], "start_rotation": [ 0, 0.6826, 0, -0.73079 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.76357, "euclidean_distance": 4.93077, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.10951, 0.02111, -0.13781 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_0_newN_1", "path": [ "0_edge_0_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_0_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27", "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_0_newN_1", "d260eaeca5694719868f318ab468be27", "0_edge_3_newN_2", [ "d260eaeca5694719868f318ab468be27" ], "0_edge_2_newN_1", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A3HL2LL0LEPZT8:34BBWHLWHCED0JO4Q9ECRPU0FVSIWL", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.21673, 0.18397, 25.32275 ], "start_rotation": [ 0, 0.43665, 0, -0.89963 ], "object_category": "table", "info": { "geodesic_distance": 17.58044, "euclidean_distance": 16.37626, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.4404, 0.18397, 41.34769 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", [ "063eee6149194f3abc6f297e290068fa" ], "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "AZPZDX26SYMFY:3PS7W85Z815SX1R7RA3ORCOYO0NT9X", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.46644, 0.18397, 2.34953 ], "start_rotation": [ 0, 0.22815, 0, 0.97363 ], "object_category": "chair", "info": { "geodesic_distance": 3.57621, "euclidean_distance": 2.31944, "closest_goal_object_id": 33, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -17.89986, 0.18397, 4.59737 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", "path": [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "477dbfb712f242958420a83d490a70ed", [ "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "2ad491d5db914f9689bfec52a694dd18", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "AEWGY34WUIA32:36TFCYNS46DSTOIAUWSDTW7SK96HXH", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.62483, 0.18397, 0.74112 ], "start_rotation": [ 0, 0.9981, 0, 0.06157 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.52414, "euclidean_distance": 4.93258, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.84063, 0.1166, 1.82842 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", "path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2TUUIV61CR0C7:33LKR6A5KGNA8WOCNXOVC66FQOV1TS", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.14531, -0.01271, 13.20407 ], "start_rotation": [ 0, 0.80211, 0, 0.59718 ], "object_category": "sofa", "info": { "geodesic_distance": 14.7305, "euclidean_distance": 12.0338, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.36761, -0.01603, 6.82598 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "cde4845dbdcd439b988ffa3ab38262d1", "path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A3KC26Z78FBOJT:3GNA64GUZG7W4YX37GWCAR883YW5QG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.81705, 0.18397, 25.59788 ], "start_rotation": [ 0, 0.20307, 0, 0.97916 ], "object_category": "sofa", "info": { "geodesic_distance": 29.56781, "euclidean_distance": 20.56828, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.44617, -0.01603, 6.93462 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3RRCEFRB7OFR49REATGCAA7VJV6B4Z", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.69469, -0.01603, 5.04006 ], "start_rotation": [ 0, 0.99745, 0, 0.0713 ], "object_category": "picture", "info": { "geodesic_distance": 29.53486, "euclidean_distance": 27.62875, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.13893, 0.18397, 27.70926 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926" ], "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "171278a4cf64429d9ab2df21adcc60d8", [ "063eee6149194f3abc6f297e290068fa" ], "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A3HL2LL0LEPZT8:3HMVI3QICLV6PIN6X3BUKNYTSKK1YX", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 9.04827, 0.18397, 44.44059 ], "start_rotation": [ 0, 0.11034, 0, -0.99389 ], "object_category": "picture", "info": { "geodesic_distance": 17.04031, "euclidean_distance": 15.79663, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.5303, 0.18397, 29.36916 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_84_newN_4", "path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A2MCG5W6LHSRG9:3ZDAD0O1T3GIYX95UQ927FAGZDWTXM", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.71121, -0.01603, -1.3161 ], "start_rotation": [ 0, 0.971, 0, -0.23906 ], "object_category": "cabinet", "info": { "geodesic_distance": 12.22274, "euclidean_distance": 11.48731, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.11375, 0.05325, 0.06681 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", "path": [ "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3TEM0PF1Q703KI7X5OKGTX5JIA50D9", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -22.39691, 0.18397, 0.53287 ], "start_rotation": [ 0, 0.64314, 0, -0.76575 ], "object_category": "sofa", "info": { "geodesic_distance": 5.22329, "euclidean_distance": 4.92924, "closest_goal_object_id": 32, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -21.12977, 0.18397, 5.39363 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", "path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_98_newN_1", "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_36_newN_1", "0_edge_36_newN_2" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_98_newN_1", "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_36_newN_1", "0_edge_36_newN_2" ], "refined_path": [ "ea57049411f1475f9279bb323dc1f999", "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_98_newN_1", "0_edge_98_newN_3", "e3676c851d0f434e9bbf6911f7a676fb", "0_edge_36_newN_1", "0_edge_36_newN_2" ] }, { "episode_id": "A29CNQYJWMJ7G9:3TMSXRD2X8320DS6I2T6ZQDEVUI1WC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -15.4679, 0.07479, 3.6153 ], "start_rotation": [ 0, 0.99292, 0, -0.11877 ], "object_category": "stool", "info": { "geodesic_distance": 9.08189, "euclidean_distance": 8.11902, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.80368, 0.18397, 0.11164 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "deb943d89d2a44ce8850edec3c7308f9", "path": [ "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", [ "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3O5RKGH6VB19C:36AHBNMV1TF0HD3IDWVPLPZ3UNTYDH", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.02561, 0.18397, 17.12872 ], "start_rotation": [ 0, 0.03576, 0, 0.99936 ], "object_category": "sofa", "info": { "geodesic_distance": 19.17141, "euclidean_distance": 16.05145, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.29564, -0.01603, 6.76094 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "1f6913d742e04627b35d285907b0c41c", "path": [ "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A3HL2LL0LEPZT8:3NAPMVF0ZYIUZJ91TYL8CTO2U8927C", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 9.1703, 0.18397, 42.85439 ], "start_rotation": [ 0, 0.69331, 0, -0.72064 ], "object_category": "picture", "info": { "geodesic_distance": 17.24961, "euclidean_distance": 14.32557, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.63111, 0.18397, 29.38873 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", "path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "AOMFEAWQHU3D8:38F5OAUN5PFYE9CJCJOFZXU33RHH7H", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.82609, -0.01603, 5.70361 ], "start_rotation": [ 0, 0.39707, 0, 0.91779 ], "object_category": "picture", "info": { "geodesic_distance": 29.60792, "euclidean_distance": 27.164, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.12047, 0.18397, 27.52253 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "0_edge_59_newN_1" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669" ], "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] ] }, { "episode_id": "AZPZDX26SYMFY:3I2PTA7R3VXZMHI6E30ICGRRJXOKQG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 4.62011, 0.18397, 25.4841 ], "start_rotation": [ 0, 0.62637, 0, 0.77952 ], "object_category": "sofa", "info": { "geodesic_distance": 28.72122, "euclidean_distance": 25.19588, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.45639, -0.01603, 6.93065 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", "path": [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", [ "063eee6149194f3abc6f297e290068fa" ], "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3IGI0VL649NX9BQTW30UF3DVYT3NOC", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.32567, 0.18397, 46.47274 ], "start_rotation": [ 0, 0.71563, 0, -0.69848 ], "object_category": "picture", "info": { "geodesic_distance": 19.24384, "euclidean_distance": 17.64313, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.55207, 0.18397, 29.27647 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "aa3049db9ce543e0bb9456793ad1ea2e", "path": [ "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "0_edge_84_newN_4", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "aa3049db9ce543e0bb9456793ad1ea2e", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9" ], "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d" ], "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A21ZK49H9LSSRY:3Q5C1WP23O48NUDMM16X9Q01EVQ156", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -14.10999, 0.00588, -2.79138 ], "start_rotation": [ 0, 0.96036, 0, 0.27876 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.7585, "euclidean_distance": 2.58545, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.12404, 0.01783, -0.19491 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", "path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2DWSKGD9RNKMJ:32ZKVD547HQ6MD8AAFBT05FQI1ZB3U", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.98942, -0.01603, -1.2105 ], "start_rotation": [ 0, 0.64542, 0, 0.76382 ], "object_category": "cabinet", "info": { "geodesic_distance": 11.51268, "euclidean_distance": 10.20581, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.16133, 0.07158, 0.07442 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", "path": [ "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ee62dcd77a3446028da94a7b93a2afe7", "0_edge_129_newN_0", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ee62dcd77a3446028da94a7b93a2afe7", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", [ "44d33d6e1d08491bbbbefbbdf4153521" ], "ee62dcd77a3446028da94a7b93a2afe7", [ "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", [ "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0" ], "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A16K7X677N4WN6:3TR2532VIRXB1FT4H9M85WAN47A6J4", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.18078, 0.18397, 17.25885 ], "start_rotation": [ 0, 0.01316, 0, 0.99991 ], "object_category": "sofa", "info": { "geodesic_distance": 19.22541, "euclidean_distance": 16.01594, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.44827, -0.01603, 6.82637 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "1f6913d742e04627b35d285907b0c41c", "path": [ "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ], "refined_path": [ "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "0_edge_28_newN_0" ] }, { "episode_id": "AAX9LTAOIBECD:32XVDSJFP10DKMGOX4NXVBLSSXRM2X", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -11.25822, -0.01603, 4.50265 ], "start_rotation": [ 0, 0.94745, 0, 0.3199 ], "object_category": "chair", "info": { "geodesic_distance": 3.5929, "euclidean_distance": 2.76655, "closest_goal_object_id": 89, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -9.58009, -0.01603, 6.75917 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", "path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "c0a8647aead54f7295512181bac0440e", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "0_edge_45_newN_0" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0" ], "refined_path": [ "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", [ "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9" ], "c0a8647aead54f7295512181bac0440e", [ "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18", [ "87870f8cba81492b8ef631196a2f6560" ], "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", [ "9777c924f783428ca832493cef2b5259" ], "0_edge_45_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:37UQDCYH6ZY3WA73H85JEYLDR5A7VV", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.33469, 0.4852, -6.94132 ], "start_rotation": [ 0, 0.14845, 0, 0.98892 ], "object_category": "table", "info": { "geodesic_distance": 3.66648, "euclidean_distance": 2.58347, "closest_goal_object_id": 53, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -8.00847, -0.01603, -5.75696 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_1_newN_0", "path": [ "0_edge_1_newN_0", "d260eaeca5694719868f318ab468be27", "1611d119a70b46869c6e12117aa71972", "0_edge_5_newN_2" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_1_newN_0", "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_5_newN_2", "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ], "refined_path": [ "0_edge_1_newN_0", "d260eaeca5694719868f318ab468be27", [ "0_edge_1_newN_0" ], "1611d119a70b46869c6e12117aa71972", "0_edge_5_newN_2", [ "1611d119a70b46869c6e12117aa71972", "0_edge_1_newN_0" ] ] }, { "episode_id": "A2MCG5W6LHSRG9:3II4UPYCOLAR8BCWMMEV83W1ZOLQD3", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -12.11705, 0.00387, -4.49697 ], "start_rotation": [ 0, 0.99903, 0, -0.04398 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.1097, "euclidean_distance": 4.77054, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.12314, 0.02195, -0.16516 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "0_edge_3_newN_2", "path": [ "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "0_edge_3_newN_2", "d260eaeca5694719868f318ab468be27", "0_edge_1_newN_0", "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "AIIOT9A7ARQZW:3C6FJU71TSWMYFE4ZRLEVP3RKZTYUO", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.07831, 0.18397, 28.19896 ], "start_rotation": [ 0, 0.8721, 0, -0.48932 ], "object_category": "picture", "info": { "geodesic_distance": 4.51129, "euclidean_distance": 4.02648, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 3.94404, 0.18397, 27.78104 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A29CNQYJWMJ7G9:3P4RDNWND79RUZO5JAVX2Z0RWDAJIR", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.26355, 0.18397, -4.75697 ], "start_rotation": [ 0, 0.11596, 0, -0.99325 ], "object_category": "table", "info": { "geodesic_distance": 3.45992, "euclidean_distance": 3.27118, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.59072, 0.10285, -6.26299 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_151_newN_2", "path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "refined_path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ] }, { "episode_id": "A3GWRDHAURRNK6:3C44YUNSI3S68ZBHM9Z68Y6QD45PDM", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -6.8695, -0.01603, 0.1999 ], "start_rotation": [ 0, 0.96767, 0, 0.25222 ], "object_category": "sofa", "info": { "geodesic_distance": 8.37506, "euclidean_distance": 6.57146, "closest_goal_object_id": 37, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.24168, -0.01603, -3.32453 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "ce911e4041d24673bc7e5d80dd645630", "path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:36NEMU28XHGZW2EVBOC4JI1HSTYWMB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -9.38335, -0.01603, 6.62075 ], "start_rotation": [ 0, 0.91891, 0, 0.39447 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.83143, "euclidean_distance": 7.42822, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.35103, 0.18397, 1.04048 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", "path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", [ "1ea622f651a34cfda5cdccf90117aaeb" ], "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A75XDPFNICR3T:3N2BF7Y2VSXHZCJ6GPQ4IFRUD56MHM", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.45237, 0.18397, 26.58148 ], "start_rotation": [ 0, 0.56427, 0, 0.82559 ], "object_category": "chair", "info": { "geodesic_distance": 16.03279, "euclidean_distance": 14.71282, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.96107, 0.18397, 40.96476 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:34J10VATJH18GMSIE0F6Z0CERTTQI5", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.66842, 0.18397, 23.40694 ], "start_rotation": [ 0, 0.52032, 0, 0.85397 ], "object_category": "cabinet", "info": { "geodesic_distance": 28.44213, "euclidean_distance": 27.0268, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -13.94369, 0.11398, 0.82328 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A272X64FOZFYLB:3I3WADAZ9S7TJMKNS348LMD93WK5OT", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.22958, 0.18397, 23.00069 ], "start_rotation": [ 0, 0.10413, 0, 0.99456 ], "object_category": "sofa", "info": { "geodesic_distance": 25.10313, "euclidean_distance": 21.09055, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.33751, -0.01603, 6.74671 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "AIIOT9A7ARQZW:386PBUZZXH0TK0WB4DSAUFSKR41JLS", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 13.29162, 0.18397, 45.06285 ], "start_rotation": [ 0, 0.30818, 0, 0.95133 ], "object_category": "picture", "info": { "geodesic_distance": 21.3107, "euclidean_distance": 18.04482, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.49971, 0.18397, 29.30339 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "6b06f294636f4fcd9bddeb75cda61c6d", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", [ "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64" ], "6b06f294636f4fcd9bddeb75cda61c6d", [ "5fb68178835247328ebd444ea4207d64" ], "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A28U7B76HLCS1U:3L0KT67Y8GJ6J2M0AMQEGOL3Z0FSY5", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.45246, 0.18397, 23.9049 ], "start_rotation": [ 0, 0.04162, 0, -0.99913 ], "object_category": "cabinet", "info": { "geodesic_distance": 29.70065, "euclidean_distance": 26.36318, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.01539, 0.11542, 0.72028 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A272X64FOZFYLB:3Q5ZZ9ZEVQIQYUX7LMFCO0N9ORQ580", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -6.05227, -0.01603, 7.62743 ], "start_rotation": [ 0, 0.9969, 0, -0.07868 ], "object_category": "sofa", "info": { "geodesic_distance": 8.00721, "euclidean_distance": 6.38855, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.37742, -0.01603, 6.83533 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "37f62db110c94798b2eec3c180d2fa39", "path": [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A3KC26Z78FBOJT:3U088ZLJVMW2TO7OMJP6LLU3AVGW0C", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.78646, 0.18397, 23.63133 ], "start_rotation": [ 0, 0.79086, 0, -0.61199 ], "object_category": "chair", "info": { "geodesic_distance": 16.68431, "euclidean_distance": 13.65007, "closest_goal_object_id": 62, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -4.00298, -0.01603, 9.92838 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "5fb26cecda204c40ae520fbda21ce82e" ] }, { "episode_id": "A1RQLE4ZMTU22A:33TIN5LC06DOENQ11GQNZTGD4E3Y9E", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.45572, -0.01603, 5.6343 ], "start_rotation": [ 0, 0.95696, 0, -0.29023 ], "object_category": "picture", "info": { "geodesic_distance": 28.23579, "euclidean_distance": 26.44135, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.03754, 0.18397, 27.76814 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", "path": [ "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "0_edge_129_newN_0", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "0_edge_59_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "89fc715c56814d59aaf7eaa522fe199a" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "c835bc9904a846ce88571c2ee3557af0", "97199ffe16bc45d0acb64341501e467e", [ "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb" ], "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "deb943d89d2a44ce8850edec3c7308f9", "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb" ], "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e" ], "37f62db110c94798b2eec3c180d2fa39", "3875b9ad36924b869985fed0412bc926", "854ce53825a347bba52684d20cca190b", "462cd36ba0ff43b7af69994cc7e2384f", "cde4845dbdcd439b988ffa3ab38262d1", "8e489f8b8bc5448b9410a41faa216021", "1f6913d742e04627b35d285907b0c41c", "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", [ "544ccad03803403c97721228e7cc9669" ], "0_edge_59_newN_1", [ "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d" ], "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", [ "5fb68178835247328ebd444ea4207d64" ], "89fc715c56814d59aaf7eaa522fe199a", [ "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3OVHNO1VE840M3DN9IX8ZW851THDZW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 13.07845, 0.18397, 44.34445 ], "start_rotation": [ 0, 0.02837, 0, 0.9996 ], "object_category": "picture", "info": { "geodesic_distance": 20.99308, "euclidean_distance": 17.31473, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.58462, 0.18397, 29.4001 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", "path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A2TUUIV61CR0C7:3EO896NRAYYH3D4GDMU1G621K5OJT7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -7.73993, -0.01603, -6.87905 ], "start_rotation": [ 0, 0.43978, 0, -0.8981 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.76211, "euclidean_distance": 9.29023, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.25495, 0.0802, -0.09413 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", "path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ee62dcd77a3446028da94a7b93a2afe7", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", "e08f96be3042438dbcbead0207f8b016", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ee62dcd77a3446028da94a7b93a2afe7", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "1611d119a70b46869c6e12117aa71972", "0_edge_45_newN_0", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "0_edge_8_newN_2", [ "e08f96be3042438dbcbead0207f8b016" ], "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ee62dcd77a3446028da94a7b93a2afe7", [ "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3F1567XTNY8F5LZFA69TM7DB84O9QP", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.74403, 0.18397, 44.15754 ], "start_rotation": [ 0, 0.09769, 0, -0.99522 ], "object_category": "picture", "info": { "geodesic_distance": 19.32662, "euclidean_distance": 15.72368, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.51775, 0.18397, 29.37714 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_74_newN_1", "path": [ "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A21ZK49H9LSSRY:3QAPZX2QN6GGH89H8Z0ZXEEFPTC20M", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 5.56341, 0.18397, 29.17244 ], "start_rotation": [ 0, 0.48824, 0, 0.87271 ], "object_category": "chair", "info": { "geodesic_distance": 11.73709, "euclidean_distance": 11.73709, "closest_goal_object_id": 170, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.96375, 0.18397, 40.85314 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "72dc0c6d62414bbaa9fe67ecfe6305e3", "path": [ "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ], "refined_path": [ "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", [ "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606" ] }, { "episode_id": "A29CNQYJWMJ7G9:31T4R4OBOUJ7X113QRAEO6XO60NC7Y", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.49803, 0.18397, 45.1137 ], "start_rotation": [ 0, 0.60903, 0, 0.79315 ], "object_category": "picture", "info": { "geodesic_distance": 16.76121, "euclidean_distance": 15.91338, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.51147, 0.18397, 29.2539 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "a3e731b8c53346cbad60c56777279606", "path": [ "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ], "refined_path": [ "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df" ] }, { "episode_id": "A1NSHNH3MNFRGW:3YDGXNSEO1X82BT77HW2J8HU9WE48Y", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -10.50604, -0.01603, -1.33233 ], "start_rotation": [ 0, 0.87584, 0, 0.4826 ], "object_category": "sofa", "info": { "geodesic_distance": 2.9489, "euclidean_distance": 2.78325, "closest_goal_object_id": 37, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.3931, -0.01603, -3.27406 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "a9db6e3e630f4490b8aaedc387b3adad", "path": [ "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3IKZ72A5B6J33YD0X0H4S94H6Q2FN4", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -3.30641, 0.18397, 23.57982 ], "start_rotation": [ 0, 0.86672, 0, -0.4988 ], "object_category": "sofa", "info": { "geodesic_distance": 28.02681, "euclidean_distance": 18.99249, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.4006, -0.01603, 6.88767 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "A1WU3UZ1IJIMUI:3MYYFCXHJ5ANVQZPQF8QBLYTCEL4GN", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.34177, 0.38397, 21.40208 ], "start_rotation": [ 0, 0.99958, 0, -0.02913 ], "object_category": "cabinet", "info": { "geodesic_distance": 26.74883, "euclidean_distance": 25.18422, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.03949, 0.12685, 0.73853 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "a66ff11e61dd489994fba110d257025e", "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e" ], "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_110_newN_0", [ "0_edge_31_newN_0", "a595e80625ce4c808cf713581ce1c0da" ], "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "ALZVG5501Y5IX:34HJIJKLP7Z6DNPKFA7CBM1333EV4W", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.04106, 0.18397, 23.60972 ], "start_rotation": [ 0, 0.86494, 0, -0.50188 ], "object_category": "sofa", "info": { "geodesic_distance": 25.9424, "euclidean_distance": 22.08086, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.42878, -0.01603, 6.86489 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", "path": [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "ec5c91f9eea342c4b87f5cfd403dcefb", "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ], "refined_path": [ "063eee6149194f3abc6f297e290068fa", "9baaef79e7484c8e9929f78df52fc3df", "72dc0c6d62414bbaa9fe67ecfe6305e3", "8067c649a55045d79e0ef8908e174b14", "6693377c80b04bb994dd3b7a26cd75ee", "a39bc73eb9f64cbaabfca03100692305", "544ccad03803403c97721228e7cc9669", "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "0db658dc49514ca18be7b44ceb363849", "a3e731b8c53346cbad60c56777279606", [ "c50575c567e74abfbf95cdd50f71122d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9" ], "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3", "9baaef79e7484c8e9929f78df52fc3df", "063eee6149194f3abc6f297e290068fa" ], "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "44d33d6e1d08491bbbbefbbdf4153521", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "0_edge_45_newN_0", "1611d119a70b46869c6e12117aa71972" ] }, { "episode_id": "A5WWHKD82I8UE:3E13VNJ1NPYKZI81TLPRYZ46JIY1IK", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 2.89692, 0.18397, 23.74333 ], "start_rotation": [ 0, 0.06201, 0, -0.99808 ], "object_category": "sofa", "info": { "geodesic_distance": 26.40023, "euclidean_distance": 22.74857, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.51789, -0.01603, 6.91639 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", "path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_0_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_0", "0_edge_0_newN_1" ], "refined_path": [ "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "0_edge_3_newN_1", [ "0_edge_3_newN_0" ], "0_edge_0_newN_1" ] }, { "episode_id": "AIIOT9A7ARQZW:3WR9XG3T65E42XOOXC4W58L0ELG74M", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 1.16224, 0.18397, -5.24539 ], "start_rotation": [ 0, 0.95019, 0, 0.31168 ], "object_category": "table", "info": { "geodesic_distance": 3.22487, "euclidean_distance": 2.96337, "closest_goal_object_id": 56, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -1.57671, 0.1361, -6.32806 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_151_newN_2", "path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ], "refined_path": [ "0_edge_151_newN_2", "5fb26cecda204c40ae520fbda21ce82e", "63ac2b2ef1e0457385976d17655da263" ] }, { "episode_id": "A16K7X677N4WN6:3VP0C6EFSIZ12NZPK6Z0LO2483BM6Y", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.56758, -0.01603, 0.48875 ], "start_rotation": [ 0, 0.88269, 0, 0.46995 ], "object_category": "stool", "info": { "geodesic_distance": 24.28938, "euclidean_distance": 22.24784, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.75856, 0.18397, 0.17399 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "44d33d6e1d08491bbbbefbbdf4153521", "ec5c91f9eea342c4b87f5cfd403dcefb", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", [ "ce911e4041d24673bc7e5d80dd645630" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", [ "0_edge_136_newN_2", "0_edge_31_newN_0" ], "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A29CNQYJWMJ7G9:3HYA4D452TM7ECO7BHJK0L1JSX7F2A", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -12.16821, -0.01603, 4.55874 ], "start_rotation": [ 0, 0.24787, 0, 0.96879 ], "object_category": "stool", "info": { "geodesic_distance": 12.26685, "euclidean_distance": 11.5204, "closest_goal_object_id": 57, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -22.72621, 0.18397, 0.15271 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_stool", "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", "path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ], "refined_path": [ "2ad491d5db914f9689bfec52a694dd18", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "a9db6e3e630f4490b8aaedc387b3adad", "9777c924f783428ca832493cef2b5259", "f530764ebfa140c7ad68d1cae7e3f8d9", "e08f96be3042438dbcbead0207f8b016", [ "f530764ebfa140c7ad68d1cae7e3f8d9", "9777c924f783428ca832493cef2b5259", "a9db6e3e630f4490b8aaedc387b3adad", "87870f8cba81492b8ef631196a2f6560", "2ad491d5db914f9689bfec52a694dd18" ], "deb943d89d2a44ce8850edec3c7308f9", "c0a8647aead54f7295512181bac0440e", "4534a8c9651e4ce891970e43e2724dfe", "0_edge_136_newN_2", "0_edge_31_newN_0", "0_edge_137_newN_1", "2b35c215fb1047739393cefd64a76404", "ea57049411f1475f9279bb323dc1f999" ] }, { "episode_id": "A3FSDH6HUZPNQ8:379J5II41QJL9KAJQCHJXZFR8EELE2", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 11.42173, 0.18397, 44.42797 ], "start_rotation": [ 0, 0.97876, 0, -0.20499 ], "object_category": "picture", "info": { "geodesic_distance": 19.35832, "euclidean_distance": 16.62916, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.57376, 0.18397, 29.47493 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", "path": [ "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "5fb68178835247328ebd444ea4207d64", "6b06f294636f4fcd9bddeb75cda61c6d", [ "5fb68178835247328ebd444ea4207d64" ], "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", [ "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "AOMFEAWQHU3D8:3R08VXYT7EYGBZ787IAF004QIA8W70", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.14911, 0.18397, 10.36116 ], "start_rotation": [ 0, 0.37072, 0, -0.92875 ], "object_category": "table", "info": { "geodesic_distance": 6.37017, "euclidean_distance": 5.68445, "closest_goal_object_id": 50, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.46077, 0.14379, 7.18464 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "0_edge_98_newN_2", "path": [ "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "0_edge_98_newN_2", "0_edge_98_newN_1", "2f366c82ffe246d9a3cc6d8bcca862d4", "0_edge_28_newN_0", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A1RQLE4ZMTU22A:3Z4AIRP3C8GHPDXWS7PS19RKQ5O1X7", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -18.29193, 0.18397, 5.28902 ], "start_rotation": [ 0, 0.20851, 0, -0.97802 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.00784, "euclidean_distance": 3.72591, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.7136, 0.10208, 1.99509 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "c0a8647aead54f7295512181bac0440e", "path": [ "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A21ZK49H9LSSRY:3R0T90IZ1UFQQUC4JUE8UJAGPGDCGG", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.24917, -0.01603, -0.72283 ], "start_rotation": [ 0, 0.99995, 0, -0.00969 ], "object_category": "cabinet", "info": { "geodesic_distance": 13.77367, "euclidean_distance": 12.89027, "closest_goal_object_id": 30, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -14.09346, 0.05242, 0.11034 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", "path": [ "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "f40bd40958c84aff92ba792033933f3d", "ee62dcd77a3446028da94a7b93a2afe7", "ec5c91f9eea342c4b87f5cfd403dcefb", "97199ffe16bc45d0acb64341501e467e", [ "ec5c91f9eea342c4b87f5cfd403dcefb" ], "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3B1NLC6UG1Z9KJL8OZ0EEJ9NQZBPGS", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 6.52936, 0.18397, 44.18817 ], "start_rotation": [ 0, 0.92488, 0, -0.38026 ], "object_category": "chair", "info": { "geodesic_distance": 1.27688, "euclidean_distance": 1.09047, "closest_goal_object_id": 250, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 7.49206, 0.18397, 44.8056 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_chair", "start_potision_viewpoint_id": "0_edge_22_newN_1", "path": [ "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ], "refined_path": [ "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "0_edge_59_newN_1" ] }, { "episode_id": "A2DLH5XGBNYXWS:3X65QVEQI2Q6CMQ5ULBO7BFP4LVLCO", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -2.15682, 0.18397, 45.07229 ], "start_rotation": [ 0, 0.85101, 0, -0.52515 ], "object_category": "picture", "info": { "geodesic_distance": 20.64742, "euclidean_distance": 17.08605, "closest_goal_object_id": 84, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.54355, 0.18397, 29.3758 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_picture", "start_potision_viewpoint_id": "0_edge_144_newN_0", "path": [ "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "122154d283494710ae5e592fc99bf8e1", "0_edge_84_newN_4", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", "0_edge_144_newN_0", "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "122154d283494710ae5e592fc99bf8e1", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64", "0_edge_84_newN_4", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ], "refined_path": [ "0_edge_144_newN_0", "4c8ae1df2cfe4379aba1fcd305221c4c", [ "0_edge_144_newN_0" ], "0_edge_144_newN_1", "0_edge_74_newN_1", "aa3049db9ce543e0bb9456793ad1ea2e", "2e1d19c78bc74e1cb4a13927c3050e14", "0_edge_87_newN_2", "0_edge_73_newN_0", "a3e731b8c53346cbad60c56777279606", "0db658dc49514ca18be7b44ceb363849", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", [ "5fb68178835247328ebd444ea4207d64" ], "122154d283494710ae5e592fc99bf8e1", [ "5fb68178835247328ebd444ea4207d64", "89fc715c56814d59aaf7eaa522fe199a", "5fb68178835247328ebd444ea4207d64" ], "0_edge_84_newN_4", [ "03d493822ac64466ba416f084a9d3bb9", "6b06f294636f4fcd9bddeb75cda61c6d", "03d493822ac64466ba416f084a9d3bb9", "0_edge_22_newN_1", "03d493822ac64466ba416f084a9d3bb9" ], "c50575c567e74abfbf95cdd50f71122d", "544ccad03803403c97721228e7cc9669", "a39bc73eb9f64cbaabfca03100692305", "6693377c80b04bb994dd3b7a26cd75ee", "8067c649a55045d79e0ef8908e174b14", "72dc0c6d62414bbaa9fe67ecfe6305e3" ] }, { "episode_id": "A1NKBXOTZAI1YK:3M1CVSFP628TA49K2CNTI2OVBCKAQW", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ 0.87158, 0.18397, 19.5496 ], "start_rotation": [ 0, 0.79624, 0, 0.60498 ], "object_category": "sofa", "info": { "geodesic_distance": 21.74529, "euclidean_distance": 18.33057, "closest_goal_object_id": 35, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -12.3729, -0.01603, 6.78622 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_sofa", "start_potision_viewpoint_id": "b3fdc3c598324cc5bbaf8c704c03a8bf", "path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "b3fdc3c598324cc5bbaf8c704c03a8bf", "a66ff11e61dd489994fba110d257025e", [ "b3fdc3c598324cc5bbaf8c704c03a8bf" ], "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "AKYXQY5IP7S0Z:3X73LLYYQ3HNHU46SQ54VUGT5ODHNL", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -1.79636, 0.18397, 28.6194 ], "start_rotation": [ 0, 0.756, 0, -0.65457 ], "object_category": "table", "info": { "geodesic_distance": 20.1707, "euclidean_distance": 14.18055, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.33216, 0.18397, 41.46528 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "3a5f7c6c250e4d56b96ff967489de836", [ "c835bc9904a846ce88571c2ee3557af0", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0" ], "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "87870f8cba81492b8ef631196a2f6560", "0_edge_3_newN_0", "35e62dc086ba4cd598a30fd3ec926a18" ] }, { "episode_id": "AAX9LTAOIBECD:3OS4RQUCRBI12PO3UACV1E4NP1KFBB", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -0.33288, 0.18397, 25.40672 ], "start_rotation": [ 0, 0.75899, 0, -0.6511 ], "object_category": "table", "info": { "geodesic_distance": 18.84192, "euclidean_distance": 16.66211, "closest_goal_object_id": 150, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ 4.40529, 0.18397, 41.50201 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_table", "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", "path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432", "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ], "refined_path": [ "171278a4cf64429d9ab2df21adcc60d8", "063eee6149194f3abc6f297e290068fa", "a66ff11e61dd489994fba110d257025e", "b3fdc3c598324cc5bbaf8c704c03a8bf", "1f6913d742e04627b35d285907b0c41c", "8e489f8b8bc5448b9410a41faa216021", "cde4845dbdcd439b988ffa3ab38262d1", "462cd36ba0ff43b7af69994cc7e2384f", "854ce53825a347bba52684d20cca190b", "3875b9ad36924b869985fed0412bc926", "37f62db110c94798b2eec3c180d2fa39", "97199ffe16bc45d0acb64341501e467e", "ec5c91f9eea342c4b87f5cfd403dcefb", "0_edge_129_newN_0", "c835bc9904a846ce88571c2ee3557af0", "7a87d776b160483a95fc4f7cdffe0432", "ce911e4041d24673bc7e5d80dd645630", "0_edge_11_newN_1", "0_edge_11_newN_0", [ "0_edge_11_newN_1", "ce911e4041d24673bc7e5d80dd645630", "7a87d776b160483a95fc4f7cdffe0432" ], "1ea622f651a34cfda5cdccf90117aaeb", "2ad491d5db914f9689bfec52a694dd18", "deb943d89d2a44ce8850edec3c7308f9" ] }, { "episode_id": "A3L8LSM7V7KX3T:34Q075JO1ZG9SNRLPV0LSV4ATDS10A", "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", "start_position": [ -21.45575, 0.18397, 1.28348 ], "start_rotation": [ 0, 0.32825, 0, 0.94459 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.99274, "euclidean_distance": 4.67005, "closest_goal_object_id": 29, "navigation_bounds": [ [ -26.33009, -1.61603, -11.51514 ], [ 16.14123, 5.46185, 57.8717 ] ], "best_viewpoint_position": [ -16.73873, 0.10495, 1.93083 ] }, "goals": [], "goals_key": "PuKPg4mmafe.glb_cabinet", "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", "path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ], "refined_path": [ "2b35c215fb1047739393cefd64a76404", "0_edge_137_newN_1", "0_edge_31_newN_0", "0_edge_136_newN_2", "4534a8c9651e4ce891970e43e2724dfe", "c0a8647aead54f7295512181bac0440e", "deb943d89d2a44ce8850edec3c7308f9", "a595e80625ce4c808cf713581ce1c0da", "14c540221298447da11bf71477d7fbf1" ] } ]