[ { "1pXnuDYAj8r.glb_cabinet": [ { "position": [ 10.1741, 0.4334, 6.96384 ], "radius": null, "object_id": 554, "object_name": "0_14_554", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "1407cf2da95e4f73951798295db82ab6", "observable_viewpoint_ids": [ "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "position": [ 3.1065, 0.37954, 8.71378 ], "radius": null, "object_id": 467, "object_name": "0_13_467", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "observable_viewpoint_ids": [ "7f6caa8939ec48be91f7404a9ff10624", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "position": [ 2.09848, 0.36733, 6.93683 ], "radius": null, "object_id": 937, "object_name": "0_27_937", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "observable_viewpoint_ids": [ "63c6a6491f9d4825a696fbe778a2d6f9", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "position": [ 6.00575, 0.39269, 12.3441 ], "radius": null, "object_id": 443, "object_name": "0_13_443", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "6cc97300dcd2469c82449756fef5cffd", "0_edge_84_newN_2", "176424bc97d94b12a52aefbdfb8c00d9" ] }, { "position": [ 3.09373, 0.3574, 10.7718 ], "radius": null, "object_id": 487, "object_name": "0_13_487", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "176424bc97d94b12a52aefbdfb8c00d9", "observable_viewpoint_ids": [ "7f6caa8939ec48be91f7404a9ff10624", "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9" ] }, { "position": [ 6.24766, 1.89016, 12.7131 ], "radius": null, "object_id": 420, "object_name": "0_13_420", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "2f3e7d98347047829630f0114694a532", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "position": [ 15.1383, 0.41874, 7.04774 ], "radius": null, "object_id": 547, "object_name": "0_14_547", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "1eae38cbbaf744f99de90c99d8c013f1", "observable_viewpoint_ids": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "5aef41e3b2994baa813ed2450f7b17c7" ] }, { "position": [ 3.4499, 1.56686, 12.5542 ], "radius": null, "object_id": 427, "object_name": "0_13_427", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "176424bc97d94b12a52aefbdfb8c00d9", "observable_viewpoint_ids": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9" ] }, { "position": [ 6.20629, 0.46843, -7.49722 ], "radius": null, "object_id": 888, "object_name": "0_25_888", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "7cdc2565c773401289b95360da22e017", "observable_viewpoint_ids": [ "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e" ] }, { "position": [ 6.30616, 3.891, -3.11379 ], "radius": null, "object_id": 170, "object_name": "1_4_170", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "observable_viewpoint_ids": [ "7d887c096fa64a81a02723f8c283ca16", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46" ] }, { "position": [ 13.4691, 0.40818, -4.12891 ], "radius": null, "object_id": 805, "object_name": "0_22_805", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "observable_viewpoint_ids": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459" ] }, { "position": [ 3.94995, 4.83974, -4.08758 ], "radius": null, "object_id": 34, "object_name": "1_1_34", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "71859791901b45939806508a364adf17", "observable_viewpoint_ids": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "7d887c096fa64a81a02723f8c283ca16" ] }, { "position": [ 7.50346, 3.87408, -9.91918 ], "radius": null, "object_id": 10, "object_name": "1_0_10", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "observable_viewpoint_ids": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "position": [ 4.61054, 4.74851, -7.23213 ], "radius": null, "object_id": 1, "object_name": "1_0_1", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "observable_viewpoint_ids": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719" ] }, { "position": [ 7.07372, 3.99871, 6.461 ], "radius": null, "object_id": 204, "object_name": "1_5_204", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "148a81e548314c67b6f5f226601a27de", "observable_viewpoint_ids": [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ] }, { "position": [ 4.78754, 4.71188, -4.58259 ], "radius": null, "object_id": 40, "object_name": "1_1_40", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "71859791901b45939806508a364adf17", "observable_viewpoint_ids": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "position": [ 4.3326, 4.64994, -5.80655 ], "radius": null, "object_id": 48, "object_name": "1_1_48", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "observable_viewpoint_ids": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464" ] }, { "position": [ 3.75458, 4.68635, -5.82563 ], "radius": null, "object_id": 38, "object_name": "1_1_38", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "71859791901b45939806508a364adf17", "observable_viewpoint_ids": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464" ] }, { "position": [ 3.15593, 4.03358, -4.92554 ], "radius": null, "object_id": 37, "object_name": "1_1_37", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "71859791901b45939806508a364adf17", "observable_viewpoint_ids": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464" ] }, { "position": [ 13.2392, 4.00426, 6.71971 ], "radius": null, "object_id": 316, "object_name": "1_9_316", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_69_newN_1", "observable_viewpoint_ids": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ] }, { "position": [ 1.24936, 4.01098, 8.60876 ], "radius": null, "object_id": 265, "object_name": "1_7_265", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "4ed46372db6849e28e1ed9ada35efeac", "observable_viewpoint_ids": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be" ] }, { "all_observation_viewpoint_ids": [ "7cdc2565c773401289b95360da22e017", "0_edge_84_newN_2", "6a3fba49106e4a9fb40cd0bf47dd4d46", "0_edge_69_newN_1", "49b4f59afc74417d846ad8cf1634e3d8", "7f6caa8939ec48be91f7404a9ff10624", "138030a069484c288b3b77f8a7cbd7be", "0_edge_93_newN_1", "a7fef2bee6444714acf0476fe84f9000", "5cd8a7aa73d841a4b540b19cf91de719", "1eae38cbbaf744f99de90c99d8c013f1", "7d887c096fa64a81a02723f8c283ca16", "176424bc97d94b12a52aefbdfb8c00d9", "33f72d3f5ada42d09785a13fe1ff804f", "dd735554f3c94e0bb22097e78d0209e8", "76ba074e4b7a46feb3d829302db3bd2e", "63c6a6491f9d4825a696fbe778a2d6f9", "a6c8016b0fa94ebaa51c2808c6fec8ba", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "5aef41e3b2994baa813ed2450f7b17c7", "a55dab7d921b47d59b1391d69fa7e464", "148a81e548314c67b6f5f226601a27de", "a8ae1f18502e4a6aa301af029f976f5f", "f6af6b4247ea4353b90f8bce6e05f58a", "18ea875fed1b4dc99363420c08cb4300", "6d51167d46ea4b47b9c7e9afb12ed459", "fed8aaa68c9b43a3b83770b4bd2324ed", "1407cf2da95e4f73951798295db82ab6", "92c89626241c4fbbb9294eb7db7f9da0", "0_edge_8_newN_2", "0_edge_69_newN_2", "df9d294a3f8849f6ab267f658847f700", "71859791901b45939806508a364adf17", "4ed46372db6849e28e1ed9ada35efeac", "fcbd96fa9e054e8298ab129371fa5c00", "6cc97300dcd2469c82449756fef5cffd", "0_edge_82_newN_0", "463e439a4e974a00b23bfe7c684a2607", "cf7c2bd80f934238aede140bb9bd1284", "55e5280eea474acfb993bf68a193bb25" ] } ], "1pXnuDYAj8r.glb_shower": [ { "position": [ 7.63921, 4.77698, -6.92664 ], "radius": null, "object_id": 3, "object_name": "1_0_3", "object_category": "shower", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_82_newN_0", "observable_viewpoint_ids": [ "a55dab7d921b47d59b1391d69fa7e464", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0_edge_82_newN_0", "cf7c2bd80f934238aede140bb9bd1284", "5cd8a7aa73d841a4b540b19cf91de719", "fed8aaa68c9b43a3b83770b4bd2324ed", "33f72d3f5ada42d09785a13fe1ff804f", "df9d294a3f8849f6ab267f658847f700" ] }, { "position": [ 4.33313, 5.09151, 6.43059 ], "radius": null, "object_id": 200, "object_name": "1_5_200", "object_category": "shower", "room_id": null, "room_name": null, "viewpoint_id": "8919ba4762914e899c88536f11c7bb92", "observable_viewpoint_ids": [ "a7fef2bee6444714acf0476fe84f9000" ] }, { "all_observation_viewpoint_ids": [ "a55dab7d921b47d59b1391d69fa7e464", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "a7fef2bee6444714acf0476fe84f9000", "0_edge_82_newN_0", "cf7c2bd80f934238aede140bb9bd1284", "5cd8a7aa73d841a4b540b19cf91de719", "fed8aaa68c9b43a3b83770b4bd2324ed", "33f72d3f5ada42d09785a13fe1ff804f", "df9d294a3f8849f6ab267f658847f700" ] } ], "1pXnuDYAj8r.glb_bathtub": [ { "position": [ 1.92369, 3.79556, 6.89703 ], "radius": null, "object_id": 247, "object_name": "1_7_247", "object_category": "bathtub", "room_id": null, "room_name": null, "viewpoint_id": "4ed46372db6849e28e1ed9ada35efeac", "observable_viewpoint_ids": [ "4ed46372db6849e28e1ed9ada35efeac" ] }, { "position": [ 5.37663, 3.79498, -9.18771 ], "radius": null, "object_id": 4, "object_name": "1_0_4", "object_category": "bathtub", "room_id": null, "room_name": null, "viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "observable_viewpoint_ids": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ] }, { "position": [ 13.0289, 0.26951, -2.32966 ], "radius": null, "object_id": 802, "object_name": "0_22_802", "object_category": "bathtub", "room_id": null, "room_name": null, "viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "observable_viewpoint_ids": [ "fcbd96fa9e054e8298ab129371fa5c00", "0_edge_58_newN_0" ] }, { "all_observation_viewpoint_ids": [ "4ed46372db6849e28e1ed9ada35efeac", "fcbd96fa9e054e8298ab129371fa5c00", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_58_newN_0" ] } ], "1pXnuDYAj8r.glb_towel": [ { "position": [ 1.20858, 1.05461, 8.65069 ], "radius": null, "object_id": 384, "object_name": "0_11_384", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "observable_viewpoint_ids": [ "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "position": [ 13.6418, 1.23854, -4.71837 ], "radius": null, "object_id": 810, "object_name": "0_22_810", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "observable_viewpoint_ids": [ "dd735554f3c94e0bb22097e78d0209e8" ] }, { "position": [ 8.57321, 4.65161, -8.15705 ], "radius": null, "object_id": 18, "object_name": "1_0_18", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "observable_viewpoint_ids": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0_edge_82_newN_0", "cf7c2bd80f934238aede140bb9bd1284", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ] }, { "position": [ 11.7047, 1.05767, -3.97555 ], "radius": null, "object_id": 910, "object_name": "0_26_910", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "159bf39081724055a73e686a6577096b", "observable_viewpoint_ids": [ "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "position": [ 3.1562, 4.44663, -2.26532 ], "radius": null, "object_id": 157, "object_name": "1_4_157", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "observable_viewpoint_ids": [ "7d887c096fa64a81a02723f8c283ca16" ] }, { "position": [ 6.61353, 4.71402, -6.12579 ], "radius": null, "object_id": 16, "object_name": "1_0_16", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "observable_viewpoint_ids": [ "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ] }, { "position": [ 4.65177, 4.00905, -6.61223 ], "radius": null, "object_id": 11, "object_name": "1_0_11", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "observable_viewpoint_ids": [ "a55dab7d921b47d59b1391d69fa7e464", "0_edge_82_newN_0", "fed8aaa68c9b43a3b83770b4bd2324ed", "5cd8a7aa73d841a4b540b19cf91de719" ] }, { "position": [ 4.70595, 4.39614, -7.23829 ], "radius": null, "object_id": 28, "object_name": "1_0_28", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "observable_viewpoint_ids": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719" ] }, { "all_observation_viewpoint_ids": [ "a55dab7d921b47d59b1391d69fa7e464", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "fcbd96fa9e054e8298ab129371fa5c00", "0_edge_82_newN_0", "cf7c2bd80f934238aede140bb9bd1284", "5cd8a7aa73d841a4b540b19cf91de719", "fed8aaa68c9b43a3b83770b4bd2324ed", "7d887c096fa64a81a02723f8c283ca16", "dd735554f3c94e0bb22097e78d0209e8", "63c6a6491f9d4825a696fbe778a2d6f9", "df9d294a3f8849f6ab267f658847f700" ] } ], "1pXnuDYAj8r.glb_counter": [ { "position": [ 5.31312, 0.78452, 9.78684 ], "radius": null, "object_id": 428, "object_name": "0_13_428", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_39_newN_1", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13", "7f6caa8939ec48be91f7404a9ff10624", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "92c89626241c4fbbb9294eb7db7f9da0", "176424bc97d94b12a52aefbdfb8c00d9" ] }, { "position": [ 4.90328, 0.38009, 9.79144 ], "radius": null, "object_id": 413, "object_name": "0_13_413", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "observable_viewpoint_ids": [ "7f6caa8939ec48be91f7404a9ff10624", "eb8781b9756346c9b97ae6d5e43b6d13", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "92c89626241c4fbbb9294eb7db7f9da0", "176424bc97d94b12a52aefbdfb8c00d9" ] }, { "position": [ 3.043, 0.80344, 9.73703 ], "radius": null, "object_id": 459, "object_name": "0_13_459", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "observable_viewpoint_ids": [ "7f6caa8939ec48be91f7404a9ff10624", "6cc97300dcd2469c82449756fef5cffd", "92c89626241c4fbbb9294eb7db7f9da0", "176424bc97d94b12a52aefbdfb8c00d9", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "position": [ 2.09594, 0.8555, 6.71197 ], "radius": null, "object_id": 929, "object_name": "0_27_929", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "observable_viewpoint_ids": [ "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "position": [ 6.44952, 0.86257, 12.6191 ], "radius": null, "object_id": 418, "object_name": "0_13_418", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "176424bc97d94b12a52aefbdfb8c00d9" ] }, { "position": [ 6.22442, 0.70002, -7.56573 ], "radius": null, "object_id": 881, "object_name": "0_25_881", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "7cdc2565c773401289b95360da22e017", "observable_viewpoint_ids": [ "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e" ] }, { "position": [ 13.6694, 0.90291, -4.20227 ], "radius": null, "object_id": 816, "object_name": "0_22_816", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "observable_viewpoint_ids": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459" ] }, { "position": [ 7.50559, 4.32861, -9.93937 ], "radius": null, "object_id": 24, "object_name": "1_0_24", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "observable_viewpoint_ids": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "position": [ 4.63603, 4.24121, -7.23449 ], "radius": null, "object_id": 12, "object_name": "1_0_12", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "observable_viewpoint_ids": [ "a55dab7d921b47d59b1391d69fa7e464", "fed8aaa68c9b43a3b83770b4bd2324ed", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0" ] }, { "all_observation_viewpoint_ids": [ "7cdc2565c773401289b95360da22e017", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_84_newN_2", "49b4f59afc74417d846ad8cf1634e3d8", "7f6caa8939ec48be91f7404a9ff10624", "5cd8a7aa73d841a4b540b19cf91de719", "176424bc97d94b12a52aefbdfb8c00d9", "dd735554f3c94e0bb22097e78d0209e8", "76ba074e4b7a46feb3d829302db3bd2e", "63c6a6491f9d4825a696fbe778a2d6f9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "a55dab7d921b47d59b1391d69fa7e464", "6d51167d46ea4b47b9c7e9afb12ed459", "fed8aaa68c9b43a3b83770b4bd2324ed", "92c89626241c4fbbb9294eb7db7f9da0", "df9d294a3f8849f6ab267f658847f700", "fcbd96fa9e054e8298ab129371fa5c00", "6cc97300dcd2469c82449756fef5cffd", "0_edge_82_newN_0", "cf7c2bd80f934238aede140bb9bd1284", "0_edge_39_newN_1" ] } ], "1pXnuDYAj8r.glb_sink": [ { "position": [ 4.83746, 0.70705, 9.82511 ], "radius": null, "object_id": 439, "object_name": "0_13_439", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "observable_viewpoint_ids": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "176424bc97d94b12a52aefbdfb8c00d9" ] }, { "position": [ 7.59421, 0.91498, 12.605 ], "radius": null, "object_id": 460, "object_name": "0_13_460", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "position": [ 1.26487, 0.43708, 8.98262 ], "radius": null, "object_id": 378, "object_name": "0_11_378", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "observable_viewpoint_ids": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "position": [ 5.7623, 0.80359, -7.53217 ], "radius": null, "object_id": 890, "object_name": "0_25_890", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "7cdc2565c773401289b95360da22e017", "observable_viewpoint_ids": [ "7cdc2565c773401289b95360da22e017" ] }, { "position": [ 6.3135, 4.23428, -3.36051 ], "radius": null, "object_id": 164, "object_name": "1_4_164", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "observable_viewpoint_ids": [ "6a3fba49106e4a9fb40cd0bf47dd4d46" ] }, { "position": [ 13.6738, 0.79054, -4.21103 ], "radius": null, "object_id": 818, "object_name": "0_22_818", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "observable_viewpoint_ids": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "position": [ 7.50144, 4.26359, -9.94356 ], "radius": null, "object_id": 29, "object_name": "1_0_29", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "observable_viewpoint_ids": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ] }, { "position": [ 7.09355, 4.34608, 6.39743 ], "radius": null, "object_id": 206, "object_name": "1_5_206", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "148a81e548314c67b6f5f226601a27de", "observable_viewpoint_ids": [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "55e5280eea474acfb993bf68a193bb25" ] }, { "position": [ 1.26739, 4.34515, 8.52594 ], "radius": null, "object_id": 264, "object_name": "1_7_264", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "4ed46372db6849e28e1ed9ada35efeac", "observable_viewpoint_ids": [ "4ed46372db6849e28e1ed9ada35efeac" ] }, { "all_observation_viewpoint_ids": [ "7f6caa8939ec48be91f7404a9ff10624", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "148a81e548314c67b6f5f226601a27de", "7cdc2565c773401289b95360da22e017", "4ed46372db6849e28e1ed9ada35efeac", "fcbd96fa9e054e8298ab129371fa5c00", "a7fef2bee6444714acf0476fe84f9000", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "92c89626241c4fbbb9294eb7db7f9da0", "176424bc97d94b12a52aefbdfb8c00d9", "dd735554f3c94e0bb22097e78d0209e8", "55e5280eea474acfb993bf68a193bb25", "6a3fba49106e4a9fb40cd0bf47dd4d46", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8" ] } ], "1pXnuDYAj8r.glb_picture": [ { "position": [ 10.3256, 4.66391, -4.43962 ], "radius": null, "object_id": 97, "object_name": "1_2_97", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "observable_viewpoint_ids": [ "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "position": [ 7.99686, 4.71424, 1.45598 ], "radius": null, "object_id": 763, "object_name": "1_21_763", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "observable_viewpoint_ids": [ "148a81e548314c67b6f5f226601a27de", "efa99d80f5024c999633851f5875c6c7", "5e102e6df0e544578c407d3b4373f737", "1239dba1b6234964b420a56d82d79d7a", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "29f8bc9c86e94a3692ec50fbad2e7204", "f6af6b4247ea4353b90f8bce6e05f58a", "18ea875fed1b4dc99363420c08cb4300", "6043285f84fe401d97d017c42b426fd6", "5cd8a7aa73d841a4b540b19cf91de719", "31ae672c4fda4ce29add4798d07ce3b1", "810702d87ddc4964a583f8b7a3b9c43c", "33f72d3f5ada42d09785a13fe1ff804f", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "6a3fba49106e4a9fb40cd0bf47dd4d46" ] }, { "position": [ 7.7769, 4.99347, 0.65885 ], "radius": null, "object_id": 775, "object_name": "1_21_775", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "observable_viewpoint_ids": [ "148a81e548314c67b6f5f226601a27de", "efa99d80f5024c999633851f5875c6c7", "5e102e6df0e544578c407d3b4373f737", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "29f8bc9c86e94a3692ec50fbad2e7204", "18ea875fed1b4dc99363420c08cb4300", "31ae672c4fda4ce29add4798d07ce3b1", "5cd8a7aa73d841a4b540b19cf91de719", "810702d87ddc4964a583f8b7a3b9c43c", "33f72d3f5ada42d09785a13fe1ff804f", "aff833f86ff847a7bcf24bea207c91ad", "6a3fba49106e4a9fb40cd0bf47dd4d46" ] }, { "position": [ 9.14781, 4.68631, -10.1444 ], "radius": null, "object_id": 82, "object_name": "1_2_82", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "cf7c2bd80f934238aede140bb9bd1284", "observable_viewpoint_ids": [ "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "position": [ 6.88519, 4.8619, -3.91046 ], "radius": null, "object_id": 783, "object_name": "1_21_783", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "observable_viewpoint_ids": [ "33f72d3f5ada42d09785a13fe1ff804f", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46" ] }, { "position": [ 6.87982, 4.87832, -3.35249 ], "radius": null, "object_id": 774, "object_name": "1_21_774", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "observable_viewpoint_ids": [ "33f72d3f5ada42d09785a13fe1ff804f", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ] }, { "position": [ 5.96566, 4.92107, -3.86447 ], "radius": null, "object_id": 46, "object_name": "1_1_46", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "observable_viewpoint_ids": [ "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "position": [ 6.78725, 1.39985, -2.62891 ], "radius": null, "object_id": 739, "object_name": "0_20_739", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "observable_viewpoint_ids": [ "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "position": [ 6.34685, 4.28888, 5.1656 ], "radius": null, "object_id": 121, "object_name": "1_3_121", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "a7fef2bee6444714acf0476fe84f9000", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "position": [ 6.09109, 4.33457, 5.2517 ], "radius": null, "object_id": 128, "object_name": "1_3_128", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "a7fef2bee6444714acf0476fe84f9000", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6" ] }, { "position": [ 8.69433, 1.00714, -5.22507 ], "radius": null, "object_id": 757, "object_name": "0_20_757", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "observable_viewpoint_ids": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e" ] }, { "position": [ 6.81556, 1.40888, -5.50539 ], "radius": null, "object_id": 753, "object_name": "0_20_753", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "observable_viewpoint_ids": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e" ] }, { "position": [ 12.9852, 1.95147, -1.71066 ], "radius": null, "object_id": 629, "object_name": "0_17_629", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "6c34dde402304953a9416e2781de607f", "observable_viewpoint_ids": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0" ] }, { "position": [ 6.34813, 5.21587, 5.57083 ], "radius": null, "object_id": 203, "object_name": "1_3_203", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "a7fef2bee6444714acf0476fe84f9000", "observable_viewpoint_ids": [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "position": [ 10.2522, 1.51604, -10.2157 ], "radius": null, "object_id": 832, "object_name": "0_23_832", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "observable_viewpoint_ids": [ "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_0" ] }, { "position": [ 11.4823, 1.7213, -6.27806 ], "radius": null, "object_id": 831, "object_name": "0_23_831", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_57_newN_1", "observable_viewpoint_ids": [ "dbec0f4e228c44cda1f991905404541c", "0_edge_25_newN_0", "3ecb492d5019411785bab293ff4f74ee", "6d51167d46ea4b47b9c7e9afb12ed459", "0_edge_57_newN_1" ] }, { "position": [ 4.50388, 4.49189, 10.5169 ], "radius": null, "object_id": 223, "object_name": "1_6_223", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "c3b8b8e1f0994859869b42fb760fce9f", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f" ] }, { "position": [ 13.788, 0.86895, -5.64001 ], "radius": null, "object_id": 365, "object_name": "0_10_365", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "6d51167d46ea4b47b9c7e9afb12ed459", "observable_viewpoint_ids": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c" ] }, { "position": [ 13.8281, 0.87442, -5.27349 ], "radius": null, "object_id": 364, "object_name": "0_10_364", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "6d51167d46ea4b47b9c7e9afb12ed459", "observable_viewpoint_ids": [ "6d51167d46ea4b47b9c7e9afb12ed459" ] }, { "position": [ 5.81931, 0.82317, 6.87797 ], "radius": null, "object_id": 592, "object_name": "0_16_592", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "42524ad2f3f44645a1dc3bd8486560cf", "observable_viewpoint_ids": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "position": [ 4.5882, 4.43748, 11.4188 ], "radius": null, "object_id": 239, "object_name": "1_6_239", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c" ] }, { "position": [ 2.87647, 1.61339, 5.71252 ], "radius": null, "object_id": 612, "object_name": "0_16_612", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "0d3a3b42009441e2a02200423049d804", "observable_viewpoint_ids": [ "0d3a3b42009441e2a02200423049d804" ] }, { "position": [ 3.99316, 1.44871, 6.74606 ], "radius": null, "object_id": 605, "object_name": "0_16_605", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "observable_viewpoint_ids": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "position": [ 4.42324, 4.46731, 11.6148 ], "radius": null, "object_id": 244, "object_name": "1_6_244", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c" ] }, { "position": [ 8.20015, 4.38327, 12.4184 ], "radius": null, "object_id": 308, "object_name": "1_8_308", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "8f183f5d34d544e5a4d04bc8f28f10e8", "observable_viewpoint_ids": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "2f3e7d98347047829630f0114694a532" ] }, { "position": [ 2.95027, 4.33751, 12.8487 ], "radius": null, "object_id": 217, "object_name": "1_6_217", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c" ] }, { "position": [ 2.65434, 4.38976, 12.8063 ], "radius": null, "object_id": 246, "object_name": "1_6_246", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c" ] }, { "position": [ 1.74031, 1.19048, 10.424 ], "radius": null, "object_id": 383, "object_name": "0_11_383", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "observable_viewpoint_ids": [ "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "position": [ 11.7759, 1.86262, -10.1916 ], "radius": null, "object_id": 846, "object_name": "0_23_846", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0" ] }, { "position": [ 12.3132, 1.82835, -10.188 ], "radius": null, "object_id": 847, "object_name": "0_23_847", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0" ] }, { "position": [ 11.2353, 1.77688, -10.1926 ], "radius": null, "object_id": 850, "object_name": "0_23_850", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "0_edge_57_newN_0" ] }, { "all_observation_viewpoint_ids": [ "5e102e6df0e544578c407d3b4373f737", "1239dba1b6234964b420a56d82d79d7a", "42524ad2f3f44645a1dc3bd8486560cf", "6043285f84fe401d97d017c42b426fd6", "0_edge_57_newN_1", "0f42320ef887416fb8ed9b91b6641cfc", "73f8049b6198422aa5f2edfc71fe423b", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "a7fef2bee6444714acf0476fe84f9000", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "cc896d0984cc4661bff9087a0df6967c", "5cd8a7aa73d841a4b540b19cf91de719", "0d3a3b42009441e2a02200423049d804", "8f183f5d34d544e5a4d04bc8f28f10e8", "7efbe13d514b4797b540aecffe79aa03", "33f72d3f5ada42d09785a13fe1ff804f", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "dbce7eccf4a140338da926d313e07b5c", "63c6a6491f9d4825a696fbe778a2d6f9", "148a81e548314c67b6f5f226601a27de", "c3b8b8e1f0994859869b42fb760fce9f", "416df61743e24e828609f0698df3f51b", "dbec0f4e228c44cda1f991905404541c", "f6af6b4247ea4353b90f8bce6e05f58a", "18ea875fed1b4dc99363420c08cb4300", "6d51167d46ea4b47b9c7e9afb12ed459", "810702d87ddc4964a583f8b7a3b9c43c", "92c89626241c4fbbb9294eb7db7f9da0", "aff833f86ff847a7bcf24bea207c91ad", "df9d294a3f8849f6ab267f658847f700", "0_edge_58_newN_0", "0_edge_125_newN_2", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_25_newN_0", "cf7c2bd80f934238aede140bb9bd1284", "3ecb492d5019411785bab293ff4f74ee", "e28810ab6e9745f89e3b124320caf5a8", "2f3e7d98347047829630f0114694a532", "55e5280eea474acfb993bf68a193bb25" ] } ], "1pXnuDYAj8r.glb_toilet": [ { "position": [ 1.38845, 0.31042, 10.1318 ], "radius": null, "object_id": 382, "object_name": "0_11_382", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "observable_viewpoint_ids": [ "6cc97300dcd2469c82449756fef5cffd", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "position": [ 13.5649, 0.36492, -3.11963 ], "radius": null, "object_id": 806, "object_name": "0_22_806", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "observable_viewpoint_ids": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "position": [ 5.53251, 3.80507, -4.32579 ], "radius": null, "object_id": 50, "object_name": "1_1_50", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "observable_viewpoint_ids": [ "33f72d3f5ada42d09785a13fe1ff804f", "71859791901b45939806508a364adf17", "5cd8a7aa73d841a4b540b19cf91de719" ] }, { "position": [ 5.14114, 3.87402, 6.93487 ], "radius": null, "object_id": 210, "object_name": "1_5_210", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "463e439a4e974a00b23bfe7c684a2607", "observable_viewpoint_ids": [ "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de" ] }, { "position": [ 1.36793, 3.96048, 7.7101 ], "radius": null, "object_id": 263, "object_name": "1_7_263", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "4ed46372db6849e28e1ed9ada35efeac", "observable_viewpoint_ids": [ "4ed46372db6849e28e1ed9ada35efeac" ] }, { "all_observation_viewpoint_ids": [ "71859791901b45939806508a364adf17", "148a81e548314c67b6f5f226601a27de", "4ed46372db6849e28e1ed9ada35efeac", "fcbd96fa9e054e8298ab129371fa5c00", "6cc97300dcd2469c82449756fef5cffd", "a7fef2bee6444714acf0476fe84f9000", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "dd735554f3c94e0bb22097e78d0209e8", "63c6a6491f9d4825a696fbe778a2d6f9" ] } ], "1pXnuDYAj8r.glb_chair": [ { "position": [ 6.50489, 3.91116, 4.77901 ], "radius": null, "object_id": 130, "object_name": "1_3_130", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a7fef2bee6444714acf0476fe84f9000", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "position": [ 5.31625, 4.04309, 12.4382 ], "radius": null, "object_id": 299, "object_name": "1_8_299", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "2f3e7d98347047829630f0114694a532", "observable_viewpoint_ids": [ "2f3e7d98347047829630f0114694a532" ] }, { "position": [ 10.3372, 4.05249, 11.353 ], "radius": null, "object_id": 313, "object_name": "1_9_313", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_125_newN_0", "observable_viewpoint_ids": [ "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_1", "f6cbc0517fc14f129f5456e59dc66c76" ] }, { "position": [ 12.8002, 3.73275, 7.82555 ], "radius": null, "object_id": 336, "object_name": "1_9_336", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_69_newN_1", "observable_viewpoint_ids": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_1", "0_edge_69_newN_2" ] }, { "position": [ 1.46373, 3.90404, 9.83372 ], "radius": null, "object_id": 232, "object_name": "1_6_232", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "138030a069484c288b3b77f8a7cbd7be", "observable_viewpoint_ids": [ "4ed46372db6849e28e1ed9ada35efeac", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be" ] }, { "position": [ 14.0601, 3.93495, 9.6543 ], "radius": null, "object_id": 321, "object_name": "1_9_321", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "observable_viewpoint_ids": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_0", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76" ] }, { "position": [ 11.1729, 4.09326, 11.3057 ], "radius": null, "object_id": 340, "object_name": "1_9_340", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "observable_viewpoint_ids": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_125_newN_1" ] }, { "position": [ 6.08256, 3.91011, 2.37407 ], "radius": null, "object_id": 117, "object_name": "1_3_117", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "position": [ 4.71606, 3.89037, 4.81716 ], "radius": null, "object_id": 120, "object_name": "1_3_120", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a" ] }, { "position": [ 4.69128, 3.90907, 2.43117 ], "radius": null, "object_id": 123, "object_name": "1_3_123", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a" ] }, { "position": [ 14.0154, 3.75513, 7.94604 ], "radius": null, "object_id": 344, "object_name": "1_9_344", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_69_newN_0", "observable_viewpoint_ids": [ "0_edge_69_newN_0" ] }, { "position": [ 10.8437, 3.8052, -7.52455 ], "radius": null, "object_id": 59, "object_name": "1_2_59", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "observable_viewpoint_ids": [ "12a0b0641a9a4794bb49bbcf13cea981", "cf7c2bd80f934238aede140bb9bd1284", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "position": [ 11.9904, 3.81578, -7.47526 ], "radius": null, "object_id": 89, "object_name": "1_2_89", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "observable_viewpoint_ids": [ "7c9717fb9297481bad3a5cc351f4fddf", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c" ] }, { "position": [ 5.34225, 0.47071, -2.54877 ], "radius": null, "object_id": 720, "object_name": "0_18_720", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "observable_viewpoint_ids": [ "cc896d0984cc4661bff9087a0df6967c", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "position": [ 10.4243, 0.48158, -1.21294 ], "radius": null, "object_id": 644, "object_name": "0_17_644", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "observable_viewpoint_ids": [ "0_edge_58_newN_2", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ] }, { "position": [ 9.30899, 0.52931, -6.61916 ], "radius": null, "object_id": 845, "object_name": "0_23_845", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "observable_viewpoint_ids": [ "3ecb492d5019411785bab293ff4f74ee", "6d51167d46ea4b47b9c7e9afb12ed459", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e" ] }, { "position": [ 5.26795, 0.48184, -5.22547 ], "radius": null, "object_id": 703, "object_name": "0_18_703", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "observable_viewpoint_ids": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843" ] }, { "position": [ 3.91587, 0.46346, -2.61695 ], "radius": null, "object_id": 708, "object_name": "0_18_708", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "observable_viewpoint_ids": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843" ] }, { "position": [ 4.20917, 0.45833, -5.05264 ], "radius": null, "object_id": 722, "object_name": "0_18_722", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "observable_viewpoint_ids": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843" ] }, { "position": [ 9.64157, 0.4016, 2.87043 ], "radius": null, "object_id": 674, "object_name": "0_17_674", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_58_newN_3", "observable_viewpoint_ids": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_3_newN_1", "0_edge_73_newN_1", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3" ] }, { "position": [ 5.13713, 0.45924, 3.20351 ], "radius": null, "object_id": 608, "object_name": "0_16_608", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "observable_viewpoint_ids": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "position": [ 9.81861, 0.51975, -6.60358 ], "radius": null, "object_id": 827, "object_name": "0_23_827", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "observable_viewpoint_ids": [ "3ecb492d5019411785bab293ff4f74ee", "6d51167d46ea4b47b9c7e9afb12ed459", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "76ba074e4b7a46feb3d829302db3bd2e" ] }, { "position": [ 4.75261, 0.4908, 2.98403 ], "radius": null, "object_id": 613, "object_name": "0_16_613", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "observable_viewpoint_ids": [ "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "position": [ 5.84793, 0.49875, 3.70937 ], "radius": null, "object_id": 594, "object_name": "0_16_594", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "observable_viewpoint_ids": [ "20f6b7fcb5254024aacdd907da2eb315", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "position": [ 4.03962, 0.48244, 3.0302 ], "radius": null, "object_id": 609, "object_name": "0_16_609", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "observable_viewpoint_ids": [ "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "position": [ 9.62712, 0.3547, 4.46255 ], "radius": null, "object_id": 650, "object_name": "0_17_650", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_73_newN_1", "observable_viewpoint_ids": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_0", "0_edge_3_newN_1", "0_edge_73_newN_1", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3" ] }, { "position": [ 5.79721, 0.45426, 4.22574 ], "radius": null, "object_id": 596, "object_name": "0_16_596", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "observable_viewpoint_ids": [ "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ] }, { "position": [ 9.16716, 0.55867, -9.86397 ], "radius": null, "object_id": 833, "object_name": "0_23_833", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "observable_viewpoint_ids": [ "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545" ] }, { "position": [ 5.37342, 0.45592, 4.86909 ], "radius": null, "object_id": 607, "object_name": "0_16_607", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0d3a3b42009441e2a02200423049d804", "observable_viewpoint_ids": [ "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ] }, { "position": [ 3.42575, 0.6948, 3.83917 ], "radius": null, "object_id": 614, "object_name": "0_16_614", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0d3a3b42009441e2a02200423049d804", "observable_viewpoint_ids": [ "0d3a3b42009441e2a02200423049d804", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "position": [ 4.76275, 0.44334, 4.99296 ], "radius": null, "object_id": 616, "object_name": "0_16_616", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0d3a3b42009441e2a02200423049d804", "observable_viewpoint_ids": [ "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ] }, { "position": [ 4.23644, 0.44907, 4.7676 ], "radius": null, "object_id": 603, "object_name": "0_16_603", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0d3a3b42009441e2a02200423049d804", "observable_viewpoint_ids": [ "0d3a3b42009441e2a02200423049d804" ] }, { "position": [ 3.76387, 0.44447, 4.37479 ], "radius": null, "object_id": 615, "object_name": "0_16_615", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0d3a3b42009441e2a02200423049d804", "observable_viewpoint_ids": [ "0d3a3b42009441e2a02200423049d804" ] }, { "position": [ 5.75025, 0.31592, 7.20695 ], "radius": null, "object_id": 606, "object_name": "0_16_606", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "42524ad2f3f44645a1dc3bd8486560cf", "observable_viewpoint_ids": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "position": [ 5.74052, 0.43242, 7.27764 ], "radius": null, "object_id": 476, "object_name": "0_13_476", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "42524ad2f3f44645a1dc3bd8486560cf", "observable_viewpoint_ids": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "position": [ 7.65284, 0.44085, 8.98145 ], "radius": null, "object_id": 482, "object_name": "0_13_482", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_39_newN_1", "observable_viewpoint_ids": [ "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 5.58184, 0.47438, 8.98942 ], "radius": null, "object_id": 431, "object_name": "0_13_431", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_39_newN_1", "observable_viewpoint_ids": [ "7f6caa8939ec48be91f7404a9ff10624", "0_edge_39_newN_1", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "position": [ 5.78448, 0.4814, 9.27017 ], "radius": null, "object_id": 447, "object_name": "0_13_447", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_39_newN_1", "observable_viewpoint_ids": [ "42524ad2f3f44645a1dc3bd8486560cf", "eb8781b9756346c9b97ae6d5e43b6d13", "92c89626241c4fbbb9294eb7db7f9da0", "0_edge_39_newN_1" ] }, { "position": [ 7.11508, 0.44266, 9.44842 ], "radius": null, "object_id": 435, "object_name": "0_13_435", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_39_newN_1", "observable_viewpoint_ids": [ "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1" ] }, { "position": [ 7.9608, 0.43841, 10.1153 ], "radius": null, "object_id": 462, "object_name": "0_13_462", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "deb99671679648e28ccf7d622051ab46", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_39_newN_1", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 5.86008, 0.49374, 10.1305 ], "radius": null, "object_id": 458, "object_name": "0_13_458", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_39_newN_1", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1" ] }, { "position": [ 7.27289, 0.44249, 10.1871 ], "radius": null, "object_id": 468, "object_name": "0_13_468", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_39_newN_1", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "0_edge_39_newN_1" ] }, { "position": [ 10.6143, 0.38234, 9.84602 ], "radius": null, "object_id": 518, "object_name": "0_14_518", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_93_newN_1", "observable_viewpoint_ids": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_93_newN_1", "0_edge_84_newN_0", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 8.21509, 0.79931, 10.1675 ], "radius": null, "object_id": 448, "object_name": "0_13_448", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "deb99671679648e28ccf7d622051ab46", "observable_viewpoint_ids": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 7.58676, 0.44666, 10.7842 ], "radius": null, "object_id": 477, "object_name": "0_13_477", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_39_newN_1", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 5.57764, 0.48477, 10.717 ], "radius": null, "object_id": 426, "object_name": "0_13_426", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "0_edge_39_newN_1" ] }, { "position": [ 10.5628, 0.3815, 10.7353 ], "radius": null, "object_id": 511, "object_name": "0_14_511", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_84_newN_0", "observable_viewpoint_ids": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_135_newN_0", "0_edge_93_newN_1", "0_edge_84_newN_0", "10_edge_156_newN_0", "0_edge_84_newN_2", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 7.8613, 0.36608, 10.7332 ], "radius": null, "object_id": 488, "object_name": "0_13_488", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "deb99671679648e28ccf7d622051ab46", "observable_viewpoint_ids": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 18.9184, 0.22801, 8.32856 ], "radius": null, "object_id": 570, "object_name": "0_15_570", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ee260af3263a4eccb2922c2dcf1b4606", "observable_viewpoint_ids": [ "5aef41e3b2994baa813ed2450f7b17c7", "ee260af3263a4eccb2922c2dcf1b4606" ] }, { "position": [ 17.9242, 0.18783, 10.1829 ], "radius": null, "object_id": 576, "object_name": "0_15_576", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ee260af3263a4eccb2922c2dcf1b4606", "observable_viewpoint_ids": [ "5aef41e3b2994baa813ed2450f7b17c7", "ee260af3263a4eccb2922c2dcf1b4606" ] }, { "position": [ 19.5359, 0.20593, 7.79797 ], "radius": null, "object_id": 581, "object_name": "0_15_581", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ee260af3263a4eccb2922c2dcf1b4606", "observable_viewpoint_ids": [ "5aef41e3b2994baa813ed2450f7b17c7", "ee260af3263a4eccb2922c2dcf1b4606" ] }, { "position": [ 19.6436, 0.2245, 8.70708 ], "radius": null, "object_id": 584, "object_name": "0_15_584", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ee260af3263a4eccb2922c2dcf1b4606", "observable_viewpoint_ids": [ "ee260af3263a4eccb2922c2dcf1b4606" ] }, { "all_observation_viewpoint_ids": [ "0_edge_133_newN_0", "0_edge_73_newN_0", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_125_newN_0", "0_edge_84_newN_0", "6043285f84fe401d97d017c42b426fd6", "0_edge_3_newN_1", "10_edge_156_newN_0", "0_edge_84_newN_2", "0_edge_57_newN_1", "7d1e000e54d942168b24155d12cd265b", "0f42320ef887416fb8ed9b91b6641cfc", "0_edge_125_newN_1", "73f8049b6198422aa5f2edfc71fe423b", "0_edge_69_newN_1", "54e13e385fac4638b050f5c73095ecdb", "7f6caa8939ec48be91f7404a9ff10624", "cce150ca22c249d2918ac9d0ee8689e6", "f7ef3082a05c40659421f0a21731ae1b", "138030a069484c288b3b77f8a7cbd7be", "0_edge_93_newN_1", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "0d3a3b42009441e2a02200423049d804", "8f183f5d34d544e5a4d04bc8f28f10e8", "7efbe13d514b4797b540aecffe79aa03", "0_edge_58_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "4f07d9e99e084876b0765220888d2545", "176424bc97d94b12a52aefbdfb8c00d9", "dbce7eccf4a140338da926d313e07b5c", "b12981cba2ba4525b377ef503d92b843", "12a0b0641a9a4794bb49bbcf13cea981", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "76ba074e4b7a46feb3d829302db3bd2e", "deb99671679648e28ccf7d622051ab46", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "c3c0a1a738a749a7a986d64c872b7671", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "5aef41e3b2994baa813ed2450f7b17c7", "f6af6b4247ea4353b90f8bce6e05f58a", "0_edge_69_newN_0", "6d51167d46ea4b47b9c7e9afb12ed459", "ee260af3263a4eccb2922c2dcf1b4606", "810702d87ddc4964a583f8b7a3b9c43c", "1407cf2da95e4f73951798295db82ab6", "834865d0e74042d38b796ded2488d64c", "0_edge_58_newN_3", "92c89626241c4fbbb9294eb7db7f9da0", "0_edge_69_newN_2", "0_edge_58_newN_0", "8e63389afc02448a9d0dd695bc50253a", "163d61ac7edb43fb958c5d9e69ae11ad", "4ed46372db6849e28e1ed9ada35efeac", "0_edge_135_newN_0", "cf7c2bd80f934238aede140bb9bd1284", "3ecb492d5019411785bab293ff4f74ee", "0_edge_73_newN_1", "0_edge_39_newN_1", "2f3e7d98347047829630f0114694a532", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "7c9717fb9297481bad3a5cc351f4fddf", "55f38bb2e60d46f49803ff9fc3911b28" ] } ], "1pXnuDYAj8r.glb_bed": [ { "position": [ 11.8315, 0.73899, -9.0809 ], "radius": null, "object_id": 835, "object_name": "0_23_835", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_57_newN_0", "observable_viewpoint_ids": [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_25_newN_0", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ] }, { "position": [ 11.3703, 3.99155, -8.9135 ], "radius": null, "object_id": 79, "object_name": "1_2_79", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "7c9717fb9297481bad3a5cc351f4fddf", "cf7c2bd80f934238aede140bb9bd1284", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981" ] }, { "position": [ 11.4241, 4.39123, -10.0648 ], "radius": null, "object_id": 67, "object_name": "1_2_67", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "cf7c2bd80f934238aede140bb9bd1284", "7c9717fb9297481bad3a5cc351f4fddf" ] }, { "position": [ 7.51896, 4.04075, 11.1602 ], "radius": null, "object_id": 284, "object_name": "1_8_284", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "2f3e7d98347047829630f0114694a532", "observable_viewpoint_ids": [ "2f3e7d98347047829630f0114694a532", "8f183f5d34d544e5a4d04bc8f28f10e8", "7e1850bf73f24a7f9ab824a82143e1b6", "0_edge_125_newN_1" ] }, { "position": [ 1.56123, 4.05312, 11.8703 ], "radius": null, "object_id": 224, "object_name": "1_6_224", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be" ] }, { "all_observation_viewpoint_ids": [ "12a0b0641a9a4794bb49bbcf13cea981", "7e1850bf73f24a7f9ab824a82143e1b6", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "138030a069484c288b3b77f8a7cbd7be", "0_edge_57_newN_0", "0_edge_25_newN_0", "3ecb492d5019411785bab293ff4f74ee", "cf7c2bd80f934238aede140bb9bd1284", "8f183f5d34d544e5a4d04bc8f28f10e8", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0f42320ef887416fb8ed9b91b6641cfc", "2f3e7d98347047829630f0114694a532", "0_edge_125_newN_1", "dbce7eccf4a140338da926d313e07b5c", "7c9717fb9297481bad3a5cc351f4fddf" ] } ], "1pXnuDYAj8r.glb_chest_of_drawers": [ { "position": [ 4.4761, 4.04434, 11.0773 ], "radius": null, "object_id": 215, "object_name": "1_6_215", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "2f3e7d98347047829630f0114694a532", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be" ] }, { "position": [ 8.2649, 3.95093, 10.1361 ], "radius": null, "object_id": 297, "object_name": "1_8_297", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_125_newN_1", "observable_viewpoint_ids": [ "7e1850bf73f24a7f9ab824a82143e1b6", "0_edge_125_newN_1" ] }, { "position": [ 11.514, 3.93606, -4.74078 ], "radius": null, "object_id": 69, "object_name": "1_2_69", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "observable_viewpoint_ids": [ "fec0a4503f7d4cee8f491934eff0d498", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981" ] }, { "position": [ 2.71955, 3.97426, 12.6731 ], "radius": null, "object_id": 233, "object_name": "1_6_233", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c" ] }, { "position": [ 8.29, 3.94673, 12.3456 ], "radius": null, "object_id": 303, "object_name": "1_8_303", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "8f183f5d34d544e5a4d04bc8f28f10e8", "observable_viewpoint_ids": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "2f3e7d98347047829630f0114694a532" ] }, { "position": [ 9.79377, 3.86745, -9.96525 ], "radius": null, "object_id": 68, "object_name": "1_2_68", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "cf7c2bd80f934238aede140bb9bd1284", "observable_viewpoint_ids": [ "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "position": [ 12.8864, 3.92998, -10.0034 ], "radius": null, "object_id": 87, "object_name": "1_2_87", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "7c9717fb9297481bad3a5cc351f4fddf" ] }, { "position": [ 5.56618, 0.39014, -1.56212 ], "radius": null, "object_id": 760, "object_name": "0_20_760", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "observable_viewpoint_ids": [ "cc896d0984cc4661bff9087a0df6967c", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "b12981cba2ba4525b377ef503d92b843" ] }, { "position": [ 10.4854, 0.58113, -10.0067 ], "radius": null, "object_id": 839, "object_name": "0_23_839", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "observable_viewpoint_ids": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "position": [ 13.0435, 0.61086, -9.98598 ], "radius": null, "object_id": 829, "object_name": "0_23_829", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "f4d601b86e624ad2a8d77280f36c7872", "observable_viewpoint_ids": [ "f4d601b86e624ad2a8d77280f36c7872" ] }, { "all_observation_viewpoint_ids": [ "7e1850bf73f24a7f9ab824a82143e1b6", "67dd134230034fc18ab8c30abd9af183", "0f42320ef887416fb8ed9b91b6641cfc", "0_edge_125_newN_1", "f7ef3082a05c40659421f0a21731ae1b", "138030a069484c288b3b77f8a7cbd7be", "fec0a4503f7d4cee8f491934eff0d498", "31ae672c4fda4ce29add4798d07ce3b1", "cc896d0984cc4661bff9087a0df6967c", "8f183f5d34d544e5a4d04bc8f28f10e8", "7efbe13d514b4797b540aecffe79aa03", "b12981cba2ba4525b377ef503d92b843", "dbce7eccf4a140338da926d313e07b5c", "12a0b0641a9a4794bb49bbcf13cea981", "c3b8b8e1f0994859869b42fb760fce9f", "834865d0e74042d38b796ded2488d64c", "df9d294a3f8849f6ab267f658847f700", "f4d601b86e624ad2a8d77280f36c7872", "cf7c2bd80f934238aede140bb9bd1284", "3ecb492d5019411785bab293ff4f74ee", "2f3e7d98347047829630f0114694a532", "7c9717fb9297481bad3a5cc351f4fddf" ] } ], "1pXnuDYAj8r.glb_cushion": [ { "position": [ 9.43518, 0.56834, 4.50411 ], "radius": null, "object_id": 628, "object_name": "0_17_628", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_73_newN_1", "observable_viewpoint_ids": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_0", "0_edge_3_newN_1", "0_edge_73_newN_1", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3" ] }, { "position": [ 10.538, 0.58621, 9.81846 ], "radius": null, "object_id": 543, "object_name": "0_14_543", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_93_newN_1", "observable_viewpoint_ids": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_93_newN_1", "0_edge_84_newN_0", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 9.53698, 0.56509, 2.81381 ], "radius": null, "object_id": 693, "object_name": "0_17_693", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_58_newN_3", "observable_viewpoint_ids": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_3_newN_1", "0_edge_73_newN_1", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3" ] }, { "position": [ 10.4764, 0.60676, 10.7549 ], "radius": null, "object_id": 555, "object_name": "0_14_555", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_84_newN_0", "observable_viewpoint_ids": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_93_newN_1", "0_edge_84_newN_0", "10_edge_156_newN_0", "0_edge_84_newN_2", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 10.8757, 0.4254, 1.48965 ], "radius": null, "object_id": 665, "object_name": "0_17_665", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "64fdd371adc042558d30fa9bd00a00f5", "observable_viewpoint_ids": [ "0_edge_3_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3" ] }, { "position": [ 11.9152, 0.60329, 11.867 ], "radius": null, "object_id": 533, "object_name": "0_14_533", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_135_newN_0", "observable_viewpoint_ids": [ "0_edge_135_newN_0", "10_edge_156_newN_0", "0_edge_84_newN_0" ] }, { "position": [ 12.6699, 0.68936, 4.54062 ], "radius": null, "object_id": 683, "object_name": "0_17_683", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_36_newN_2", "observable_viewpoint_ids": [ "0_edge_36_newN_2", "0_edge_3_newN_0", "0_edge_3_newN_1" ] }, { "position": [ 12.6586, 0.67371, 4.23885 ], "radius": null, "object_id": 672, "object_name": "0_17_672", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_3_newN_1", "observable_viewpoint_ids": [ "0_edge_36_newN_2", "0_edge_3_newN_0", "0_edge_3_newN_1" ] }, { "position": [ 10.272, 0.5321, -1.16173 ], "radius": null, "object_id": 643, "object_name": "0_17_643", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "observable_viewpoint_ids": [ "0_edge_58_newN_2", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ] }, { "position": [ 14.2068, 0.61296, 9.56251 ], "radius": null, "object_id": 545, "object_name": "0_14_545", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_130_newN_0", "observable_viewpoint_ids": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2" ] }, { "position": [ 12.5736, 0.67039, 3.14202 ], "radius": null, "object_id": 618, "object_name": "0_17_618", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_36_newN_0", "observable_viewpoint_ids": [ "0_edge_3_newN_2", "0_edge_36_newN_0", "0_edge_3_newN_1", "54c9298c439a4e64bc983020e4211592", "64fdd371adc042558d30fa9bd00a00f5" ] }, { "position": [ 12.7631, 0.70192, 2.90475 ], "radius": null, "object_id": 688, "object_name": "0_17_688", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_36_newN_0", "observable_viewpoint_ids": [ "0_edge_3_newN_2", "0_edge_36_newN_0", "0_edge_3_newN_1", "54c9298c439a4e64bc983020e4211592", "64fdd371adc042558d30fa9bd00a00f5" ] }, { "position": [ 14.2925, 0.59331, 10.3354 ], "radius": null, "object_id": 557, "object_name": "0_14_557", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_130_newN_0", "observable_viewpoint_ids": [ "1eae38cbbaf744f99de90c99d8c013f1" ] }, { "position": [ 5.42115, 0.61301, -2.45643 ], "radius": null, "object_id": 713, "object_name": "0_18_713", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "observable_viewpoint_ids": [ "cc896d0984cc4661bff9087a0df6967c", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843" ] }, { "position": [ 3.92439, 0.58335, -2.48785 ], "radius": null, "object_id": 714, "object_name": "0_18_714", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "observable_viewpoint_ids": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843" ] }, { "position": [ 11.8772, 0.96369, -9.8113 ], "radius": null, "object_id": 830, "object_name": "0_23_830", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "f4d601b86e624ad2a8d77280f36c7872", "observable_viewpoint_ids": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ] }, { "position": [ 11.3979, 4.03588, -7.59316 ], "radius": null, "object_id": 99, "object_name": "1_2_99", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "observable_viewpoint_ids": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "position": [ 11.3524, 4.29896, -9.66311 ], "radius": null, "object_id": 83, "object_name": "1_2_83", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "7c9717fb9297481bad3a5cc351f4fddf", "cf7c2bd80f934238aede140bb9bd1284", "12a0b0641a9a4794bb49bbcf13cea981" ] }, { "position": [ 10.6709, 4.33339, -9.67371 ], "radius": null, "object_id": 96, "object_name": "1_2_96", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "cf7c2bd80f934238aede140bb9bd1284", "observable_viewpoint_ids": [ "cf7c2bd80f934238aede140bb9bd1284", "7c9717fb9297481bad3a5cc351f4fddf" ] }, { "position": [ 6.1623, 4.06053, 2.26064 ], "radius": null, "object_id": 112, "object_name": "1_3_112", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "position": [ 10.875, 4.36953, -9.89738 ], "radius": null, "object_id": 70, "object_name": "1_2_70", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "cf7c2bd80f934238aede140bb9bd1284", "observable_viewpoint_ids": [ "cf7c2bd80f934238aede140bb9bd1284", "7c9717fb9297481bad3a5cc351f4fddf" ] }, { "position": [ 11.7288, 4.35898, -9.68284 ], "radius": null, "object_id": 80, "object_name": "1_2_80", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "cf7c2bd80f934238aede140bb9bd1284", "7c9717fb9297481bad3a5cc351f4fddf" ] }, { "position": [ 11.7303, 4.37334, -9.46491 ], "radius": null, "object_id": 78, "object_name": "1_2_78", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "12a0b0641a9a4794bb49bbcf13cea981", "cf7c2bd80f934238aede140bb9bd1284", "7c9717fb9297481bad3a5cc351f4fddf" ] }, { "position": [ 12.0198, 4.43441, -9.92658 ], "radius": null, "object_id": 108, "object_name": "1_2_108", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "cf7c2bd80f934238aede140bb9bd1284", "7c9717fb9297481bad3a5cc351f4fddf" ] }, { "position": [ 4.61533, 4.0714, 2.41174 ], "radius": null, "object_id": 145, "object_name": "1_3_145", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a" ] }, { "position": [ 8.20904, 4.40902, 10.8988 ], "radius": null, "object_id": 288, "object_name": "1_8_288", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_125_newN_1", "observable_viewpoint_ids": [ "0_edge_125_newN_1" ] }, { "position": [ 8.07615, 4.39971, 11.1665 ], "radius": null, "object_id": 305, "object_name": "1_8_305", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_125_newN_0", "observable_viewpoint_ids": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_1" ] }, { "position": [ 8.28215, 4.41996, 11.4987 ], "radius": null, "object_id": 298, "object_name": "1_8_298", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_125_newN_0", "observable_viewpoint_ids": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "2f3e7d98347047829630f0114694a532" ] }, { "position": [ 1.82649, 4.27998, 12.8209 ], "radius": null, "object_id": 240, "object_name": "1_6_240", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c" ] }, { "position": [ 1.41944, 4.42236, 12.4698 ], "radius": null, "object_id": 230, "object_name": "1_6_230", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c" ] }, { "position": [ 1.47585, 4.43191, 12.6394 ], "radius": null, "object_id": 229, "object_name": "1_6_229", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c" ] }, { "position": [ 11.4142, 4.52863, -9.94477 ], "radius": null, "object_id": 98, "object_name": "1_2_98", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "cf7c2bd80f934238aede140bb9bd1284", "7c9717fb9297481bad3a5cc351f4fddf" ] }, { "position": [ 11.3124, 4.3803, -9.43192 ], "radius": null, "object_id": 101, "object_name": "1_2_101", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "observable_viewpoint_ids": [ "7c9717fb9297481bad3a5cc351f4fddf", "cf7c2bd80f934238aede140bb9bd1284", "12a0b0641a9a4794bb49bbcf13cea981" ] }, { "position": [ 18.8333, 0.38903, 9.62434 ], "radius": null, "object_id": 585, "object_name": "0_15_585", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "ee260af3263a4eccb2922c2dcf1b4606", "observable_viewpoint_ids": [ "ee260af3263a4eccb2922c2dcf1b4606" ] }, { "all_observation_viewpoint_ids": [ "0_edge_36_newN_2", "0_edge_73_newN_0", "0_edge_133_newN_0", "0_edge_84_newN_0", "0_edge_3_newN_1", "6043285f84fe401d97d017c42b426fd6", "10_edge_156_newN_0", "0_edge_84_newN_2", "0_edge_57_newN_1", "0f42320ef887416fb8ed9b91b6641cfc", "0_edge_125_newN_1", "cce150ca22c249d2918ac9d0ee8689e6", "0_edge_93_newN_1", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_36_newN_0", "cc896d0984cc4661bff9087a0df6967c", "54c9298c439a4e64bc983020e4211592", "1eae38cbbaf744f99de90c99d8c013f1", "8f183f5d34d544e5a4d04bc8f28f10e8", "7efbe13d514b4797b540aecffe79aa03", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_2", "b12981cba2ba4525b377ef503d92b843", "dbce7eccf4a140338da926d313e07b5c", "12a0b0641a9a4794bb49bbcf13cea981", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_3_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0_edge_3_newN_0", "f6af6b4247ea4353b90f8bce6e05f58a", "ee260af3263a4eccb2922c2dcf1b4606", "1407cf2da95e4f73951798295db82ab6", "810702d87ddc4964a583f8b7a3b9c43c", "0_edge_58_newN_3", "0_edge_8_newN_2", "0_edge_58_newN_0", "8e63389afc02448a9d0dd695bc50253a", "0_edge_135_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "3ecb492d5019411785bab293ff4f74ee", "0_edge_73_newN_1", "cf7c2bd80f934238aede140bb9bd1284", "2f3e7d98347047829630f0114694a532", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "7c9717fb9297481bad3a5cc351f4fddf" ] } ], "1pXnuDYAj8r.glb_stool": [ { "position": [ 2.79171, 3.73105, 12.4908 ], "radius": null, "object_id": 242, "object_name": "1_6_242", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c" ] }, { "position": [ 11.1246, 3.67193, -6.79148 ], "radius": null, "object_id": 100, "object_name": "1_2_100", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "observable_viewpoint_ids": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "position": [ 11.697, 3.67119, -6.76962 ], "radius": null, "object_id": 71, "object_name": "1_2_71", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "observable_viewpoint_ids": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c" ] }, { "position": [ 10.7258, 0.17445, -0.47223 ], "radius": null, "object_id": 662, "object_name": "0_17_662", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "c3c0a1a738a749a7a986d64c872b7671", "observable_viewpoint_ids": [ "0_edge_58_newN_2", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ] }, { "position": [ 12.1783, 0.18362, 9.13368 ], "radius": null, "object_id": 552, "object_name": "0_14_552", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_93_newN_1", "observable_viewpoint_ids": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "0_edge_93_newN_1", "0_edge_84_newN_0" ] }, { "position": [ 12.6951, 0.18348, 9.09321 ], "radius": null, "object_id": 505, "object_name": "0_14_505", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_8_newN_2", "observable_viewpoint_ids": [ "0_edge_8_newN_2", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "position": [ 13.1697, 0.18359, 9.09711 ], "radius": null, "object_id": 534, "object_name": "0_14_534", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_8_newN_2", "observable_viewpoint_ids": [ "0_edge_8_newN_2", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "all_observation_viewpoint_ids": [ "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0_edge_93_newN_1", "0_edge_84_newN_0", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_58_newN_2", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0_edge_8_newN_2", "dbce7eccf4a140338da926d313e07b5c", "12a0b0641a9a4794bb49bbcf13cea981", "0_edge_58_newN_0" ] } ], "1pXnuDYAj8r.glb_table": [ { "position": [ 5.42344, 3.82826, 2.15668 ], "radius": null, "object_id": 147, "object_name": "1_3_147", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6" ] }, { "position": [ 6.482, 3.85981, 5.04046 ], "radius": null, "object_id": 119, "object_name": "1_3_119", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "a7fef2bee6444714acf0476fe84f9000", "observable_viewpoint_ids": [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad" ] }, { "position": [ 9.5239, 0.31529, -0.73924 ], "radius": null, "object_id": 678, "object_name": "0_17_678", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_133_newN_0", "observable_viewpoint_ids": [ "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "0_edge_58_newN_2" ] }, { "position": [ 4.72367, 3.88739, 5.04739 ], "radius": null, "object_id": 111, "object_name": "1_3_111", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a" ] }, { "position": [ 3.64315, 3.93172, 2.14421 ], "radius": null, "object_id": 137, "object_name": "1_3_137", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "observable_viewpoint_ids": [ "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a" ] }, { "position": [ 4.81088, 0.43854, -5.20195 ], "radius": null, "object_id": 705, "object_name": "0_18_705", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "observable_viewpoint_ids": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843" ] }, { "position": [ 4.60235, 0.31093, -2.42164 ], "radius": null, "object_id": 706, "object_name": "0_18_706", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "observable_viewpoint_ids": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843" ] }, { "position": [ 9.31436, 0.67926, -6.71906 ], "radius": null, "object_id": 836, "object_name": "0_23_836", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "observable_viewpoint_ids": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e" ] }, { "position": [ 11.1331, 0.45244, 3.76956 ], "radius": null, "object_id": 649, "object_name": "0_17_649", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_3_newN_1", "observable_viewpoint_ids": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_36_newN_2", "0_edge_3_newN_2", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_73_newN_1", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3" ] }, { "position": [ 10.7197, 3.85657, 9.44113 ], "radius": null, "object_id": 332, "object_name": "1_9_332", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_125_newN_1", "observable_viewpoint_ids": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_125_newN_2", "0_edge_125_newN_0", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_125_newN_1", "0_edge_69_newN_2" ] }, { "position": [ 12.7032, 0.42074, 1.9638 ], "radius": null, "object_id": 636, "object_name": "0_17_636", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "54c9298c439a4e64bc983020e4211592", "observable_viewpoint_ids": [ "0_edge_3_newN_2", "0_edge_36_newN_0", "54c9298c439a4e64bc983020e4211592", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_37_newN_0", "0_edge_58_newN_0" ] }, { "position": [ 4.72605, 0.67981, 4.0256 ], "radius": null, "object_id": 599, "object_name": "0_16_599", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0d3a3b42009441e2a02200423049d804", "observable_viewpoint_ids": [ "20f6b7fcb5254024aacdd907da2eb315", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ] }, { "position": [ 11.0362, 0.59726, -6.46158 ], "radius": null, "object_id": 840, "object_name": "0_23_840", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_57_newN_1", "observable_viewpoint_ids": [ "dbec0f4e228c44cda1f991905404541c", "0_edge_57_newN_0", "0_edge_25_newN_0", "3ecb492d5019411785bab293ff4f74ee", "6d51167d46ea4b47b9c7e9afb12ed459", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "dd735554f3c94e0bb22097e78d0209e8", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "position": [ 11.8737, 0.20514, -7.88848 ], "radius": null, "object_id": 851, "object_name": "0_23_851", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_57_newN_1", "observable_viewpoint_ids": [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_25_newN_0", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1" ] }, { "position": [ 10.7714, 4.16312, 11.8261 ], "radius": null, "object_id": 311, "object_name": "1_9_311", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_125_newN_0", "observable_viewpoint_ids": [ "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_125_newN_1" ] }, { "position": [ 13.4362, 3.70654, 9.23125 ], "radius": null, "object_id": 345, "object_name": "1_9_345", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "observable_viewpoint_ids": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_0", "54e13e385fac4638b050f5c73095ecdb" ] }, { "position": [ 5.96651, 0.33545, 6.91589 ], "radius": null, "object_id": 604, "object_name": "0_16_604", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "42524ad2f3f44645a1dc3bd8486560cf", "observable_viewpoint_ids": [ "42524ad2f3f44645a1dc3bd8486560cf", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "92c89626241c4fbbb9294eb7db7f9da0", "55f38bb2e60d46f49803ff9fc3911b28" ] }, { "position": [ 5.95507, 0.38584, 7.24923 ], "radius": null, "object_id": 473, "object_name": "0_16_473", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "42524ad2f3f44645a1dc3bd8486560cf", "observable_viewpoint_ids": [ "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "7d1e000e54d942168b24155d12cd265b", "92c89626241c4fbbb9294eb7db7f9da0", "55f38bb2e60d46f49803ff9fc3911b28" ] }, { "position": [ 7.63586, 0.35108, 9.84077 ], "radius": null, "object_id": 415, "object_name": "0_13_415", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_39_newN_1", "observable_viewpoint_ids": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 8.1303, 0.50414, 9.14699 ], "radius": null, "object_id": 491, "object_name": "0_13_491", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "deb99671679648e28ccf7d622051ab46", "observable_viewpoint_ids": [ "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 14.1837, 3.87758, 11.3842 ], "radius": null, "object_id": 339, "object_name": "1_9_339", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "observable_viewpoint_ids": [ "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ] }, { "position": [ 1.41542, 3.95452, 10.5471 ], "radius": null, "object_id": 235, "object_name": "1_6_235", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "138030a069484c288b3b77f8a7cbd7be", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be" ] }, { "position": [ 10.7939, 0.14867, 9.0939 ], "radius": null, "object_id": 549, "object_name": "0_14_549", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_93_newN_1", "observable_viewpoint_ids": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "deb99671679648e28ccf7d622051ab46" ] }, { "position": [ 12.5969, 0.23117, 10.4211 ], "radius": null, "object_id": 515, "object_name": "0_14_515", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "d0df0bc30e9a4f13a6fdbebb9cdd1964", "observable_viewpoint_ids": [ "0_edge_135_newN_0", "0_edge_93_newN_1", "0_edge_84_newN_0" ] }, { "position": [ 10.731, 0.14624, 11.3503 ], "radius": null, "object_id": 546, "object_name": "0_14_546", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "10_edge_156_newN_0", "observable_viewpoint_ids": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_135_newN_0", "0_edge_84_newN_0", "10_edge_156_newN_0", "0_edge_84_newN_2" ] }, { "position": [ 12.5993, 0.53881, 12.6963 ], "radius": null, "object_id": 536, "object_name": "0_14_536", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "d0df0bc30e9a4f13a6fdbebb9cdd1964", "observable_viewpoint_ids": [ "10_edge_156_newN_0", "0_edge_84_newN_0" ] }, { "position": [ 13.202, 0.34726, 10.4827 ], "radius": null, "object_id": 551, "object_name": "0_14_551", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_130_newN_0", "observable_viewpoint_ids": [ "0_edge_8_newN_2" ] }, { "position": [ 15.0609, 0.47904, 10.3094 ], "radius": null, "object_id": 503, "object_name": "0_14_503", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_130_newN_0", "observable_viewpoint_ids": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2" ] }, { "position": [ 12.1465, 0.35937, 12.7527 ], "radius": null, "object_id": 559, "object_name": "0_14_559", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "d0df0bc30e9a4f13a6fdbebb9cdd1964", "observable_viewpoint_ids": [ "10_edge_156_newN_0" ] }, { "position": [ 19.3989, 0.43048, 8.24275 ], "radius": null, "object_id": 573, "object_name": "0_15_573", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "ee260af3263a4eccb2922c2dcf1b4606", "observable_viewpoint_ids": [ "5aef41e3b2994baa813ed2450f7b17c7", "ee260af3263a4eccb2922c2dcf1b4606" ] }, { "all_observation_viewpoint_ids": [ "0_edge_36_newN_2", "0_edge_133_newN_0", "0_edge_73_newN_0", "67dd134230034fc18ab8c30abd9af183", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_125_newN_0", "0_edge_84_newN_0", "6043285f84fe401d97d017c42b426fd6", "0_edge_3_newN_1", "10_edge_156_newN_0", "0_edge_84_newN_2", "0_edge_57_newN_1", "7d1e000e54d942168b24155d12cd265b", "0_edge_125_newN_1", "0_edge_37_newN_0", "73f8049b6198422aa5f2edfc71fe423b", "54e13e385fac4638b050f5c73095ecdb", "cce150ca22c249d2918ac9d0ee8689e6", "138030a069484c288b3b77f8a7cbd7be", "0_edge_93_newN_1", "a7fef2bee6444714acf0476fe84f9000", "0_edge_36_newN_0", "cc896d0984cc4661bff9087a0df6967c", "20f6b7fcb5254024aacdd907da2eb315", "54c9298c439a4e64bc983020e4211592", "0d3a3b42009441e2a02200423049d804", "1eae38cbbaf744f99de90c99d8c013f1", "8f183f5d34d544e5a4d04bc8f28f10e8", "7efbe13d514b4797b540aecffe79aa03", "0_edge_58_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "dd735554f3c94e0bb22097e78d0209e8", "76ba074e4b7a46feb3d829302db3bd2e", "b12981cba2ba4525b377ef503d92b843", "f6cbc0517fc14f129f5456e59dc66c76", "deb99671679648e28ccf7d622051ab46", "148a81e548314c67b6f5f226601a27de", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_3_newN_2", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "c3c0a1a738a749a7a986d64c872b7671", "a6c8016b0fa94ebaa51c2808c6fec8ba", "dbec0f4e228c44cda1f991905404541c", "5aef41e3b2994baa813ed2450f7b17c7", "0_edge_3_newN_0", "f6af6b4247ea4353b90f8bce6e05f58a", "0_edge_69_newN_0", "6d51167d46ea4b47b9c7e9afb12ed459", "ee260af3263a4eccb2922c2dcf1b4606", "1407cf2da95e4f73951798295db82ab6", "92c89626241c4fbbb9294eb7db7f9da0", "0_edge_58_newN_3", "aff833f86ff847a7bcf24bea207c91ad", "0_edge_8_newN_2", "0_edge_69_newN_2", "0_edge_58_newN_0", "8e63389afc02448a9d0dd695bc50253a", "0_edge_135_newN_0", "0_edge_125_newN_2", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_25_newN_0", "3ecb492d5019411785bab293ff4f74ee", "0_edge_73_newN_1", "0_edge_39_newN_1", "dbce7eccf4a140338da926d313e07b5c", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "55f38bb2e60d46f49803ff9fc3911b28" ] } ], "1pXnuDYAj8r.glb_tv_monitor": [ { "position": [ 6.72435, 4.83928, 5.39523 ], "radius": null, "object_id": 115, "object_name": "1_3_115", "object_category": "tv_monitor", "room_id": null, "room_name": null, "viewpoint_id": "a7fef2bee6444714acf0476fe84f9000", "observable_viewpoint_ids": [ "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "all_observation_viewpoint_ids": [ "f6af6b4247ea4353b90f8bce6e05f58a" ] } ], "1pXnuDYAj8r.glb_plant": [ { "position": [ 12.3969, 0.58365, -1.36018 ], "radius": null, "object_id": 630, "object_name": "0_17_630", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_58_newN_0", "observable_viewpoint_ids": [ "c3c0a1a738a749a7a986d64c872b7671", "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0" ] }, { "position": [ 13.1823, 1.25346, -1.29232 ], "radius": null, "object_id": 653, "object_name": "0_17_653", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "e28810ab6e9745f89e3b124320caf5a8", "observable_viewpoint_ids": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0" ] }, { "position": [ 9.54959, 1.21026, 5.83286 ], "radius": null, "object_id": 652, "object_name": "0_17_652", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_73_newN_1", "observable_viewpoint_ids": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_0", "0_edge_73_newN_1", "7d1e000e54d942168b24155d12cd265b", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ] }, { "position": [ 9.05002, 0.54709, 5.9116 ], "radius": null, "object_id": 673, "object_name": "0_17_673", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_73_newN_1", "observable_viewpoint_ids": [ "0_edge_73_newN_0", "0_edge_73_newN_1", "7d1e000e54d942168b24155d12cd265b", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ] }, { "position": [ -0.08111, 0.10315, 1.12171 ], "radius": null, "object_id": 859, "object_name": "0_24_859", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "observable_viewpoint_ids": [ "5e08b4f21d6342538a9a6361d4cbd1d6" ] }, { "position": [ 13.7794, 0.86692, -3.17451 ], "radius": null, "object_id": 812, "object_name": "0_22_812", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "observable_viewpoint_ids": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "position": [ 13.4263, 1.5598, 5.79612 ], "radius": null, "object_id": 625, "object_name": "0_17_625", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "3a457e1e32504249a561c9d259e0835a", "observable_viewpoint_ids": [ "0_edge_36_newN_2", "0_edge_3_newN_0" ] }, { "position": [ 1.67304, 1.03007, 6.58591 ], "radius": null, "object_id": 925, "object_name": "0_27_925", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "observable_viewpoint_ids": [ "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "position": [ 8.88374, 1.02857, 12.7753 ], "radius": null, "object_id": 475, "object_name": "0_13_475", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "4e796cd1c4594f9fb07bf8b48edf2dc2", "observable_viewpoint_ids": [ "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "position": [ 6.82285, 4.28705, 5.31798 ], "radius": null, "object_id": 153, "object_name": "1_3_153", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "a7fef2bee6444714acf0476fe84f9000", "observable_viewpoint_ids": [ "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "position": [ 15.2119, 0.96759, 9.79894 ], "radius": null, "object_id": 527, "object_name": "0_14_527", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_130_newN_0", "observable_viewpoint_ids": [ "1eae38cbbaf744f99de90c99d8c013f1" ] }, { "position": [ 8.86711, 4.14842, 10.9302 ], "radius": null, "object_id": 325, "object_name": "1_9_325", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_125_newN_1", "observable_viewpoint_ids": [ "0_edge_125_newN_0", "0_edge_125_newN_1" ] }, { "position": [ 7.20262, 4.57718, 5.75807 ], "radius": null, "object_id": 212, "object_name": "1_5_212", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "a7fef2bee6444714acf0476fe84f9000", "observable_viewpoint_ids": [ "a7fef2bee6444714acf0476fe84f9000" ] }, { "position": [ 8.22242, 4.42086, 9.96645 ], "radius": null, "object_id": 287, "object_name": "1_8_287", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_125_newN_1", "observable_viewpoint_ids": [ "0_edge_125_newN_1" ] }, { "position": [ 13.5748, 4.3614, 11.5093 ], "radius": null, "object_id": 346, "object_name": "1_9_346", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "observable_viewpoint_ids": [ "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ] }, { "position": [ 4.59198, 4.71384, 11.7454 ], "radius": null, "object_id": 236, "object_name": "1_6_236", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "2f3e7d98347047829630f0114694a532", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c" ] }, { "position": [ 4.42046, 4.16925, 12.7533 ], "radius": null, "object_id": 227, "object_name": "1_6_227", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "2f3e7d98347047829630f0114694a532", "observable_viewpoint_ids": [ "dbce7eccf4a140338da926d313e07b5c", "2f3e7d98347047829630f0114694a532" ] }, { "position": [ 15.2233, 4.65786, 12.3668 ], "radius": null, "object_id": 310, "object_name": "1_9_310", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "observable_viewpoint_ids": [ "54e13e385fac4638b050f5c73095ecdb" ] }, { "all_observation_viewpoint_ids": [ "0_edge_36_newN_2", "0_edge_73_newN_0", "0_edge_125_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_125_newN_1", "5e08b4f21d6342538a9a6361d4cbd1d6", "54e13e385fac4638b050f5c73095ecdb", "49b4f59afc74417d846ad8cf1634e3d8", "a7fef2bee6444714acf0476fe84f9000", "1eae38cbbaf744f99de90c99d8c013f1", "dd735554f3c94e0bb22097e78d0209e8", "dbce7eccf4a140338da926d313e07b5c", "f6cbc0517fc14f129f5456e59dc66c76", "4e796cd1c4594f9fb07bf8b48edf2dc2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_3_newN_0", "f6af6b4247ea4353b90f8bce6e05f58a", "1407cf2da95e4f73951798295db82ab6", "0_edge_58_newN_0", "8e63389afc02448a9d0dd695bc50253a", "fcbd96fa9e054e8298ab129371fa5c00", "0_edge_73_newN_1", "e28810ab6e9745f89e3b124320caf5a8", "2f3e7d98347047829630f0114694a532", "55f38bb2e60d46f49803ff9fc3911b28" ] } ], "1pXnuDYAj8r.glb_sofa": [ { "position": [ 10.9809, 0.30041, 1.32207 ], "radius": null, "object_id": 626, "object_name": "0_17_626", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "c3c0a1a738a749a7a986d64c872b7671", "observable_viewpoint_ids": [ "0_edge_3_newN_2", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "0_edge_58_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "0_edge_58_newN_0" ] }, { "position": [ 12.7556, 0.39858, 3.71601 ], "radius": null, "object_id": 654, "object_name": "0_17_654", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_36_newN_0", "observable_viewpoint_ids": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_36_newN_2", "0_edge_3_newN_2", "0_edge_36_newN_0", "0_edge_3_newN_0", "0_edge_3_newN_1", "54c9298c439a4e64bc983020e4211592", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_37_newN_0" ] }, { "position": [ 14.3242, 0.40353, 10.3028 ], "radius": null, "object_id": 508, "object_name": "0_14_508", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_130_newN_0", "observable_viewpoint_ids": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2" ] }, { "position": [ 12.6324, 0.40489, 11.9437 ], "radius": null, "object_id": 500, "object_name": "0_14_500", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "d0df0bc30e9a4f13a6fdbebb9cdd1964", "observable_viewpoint_ids": [ "0_edge_84_newN_2", "0_edge_135_newN_0", "10_edge_156_newN_0", "0_edge_84_newN_0" ] }, { "position": [ 19.5191, 0.17954, 9.60791 ], "radius": null, "object_id": 572, "object_name": "0_15_572", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "ee260af3263a4eccb2922c2dcf1b4606", "observable_viewpoint_ids": [ "ee260af3263a4eccb2922c2dcf1b4606" ] }, { "all_observation_viewpoint_ids": [ "0_edge_36_newN_2", "0_edge_133_newN_0", "0_edge_84_newN_0", "0_edge_3_newN_1", "10_edge_156_newN_0", "0_edge_84_newN_2", "0_edge_37_newN_0", "0_edge_36_newN_0", "54c9298c439a4e64bc983020e4211592", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_58_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_3_newN_0", "ee260af3263a4eccb2922c2dcf1b4606", "0_edge_58_newN_3", "0_edge_8_newN_2", "0_edge_58_newN_0", "8e63389afc02448a9d0dd695bc50253a", "0_edge_135_newN_0" ] } ], "1pXnuDYAj8r.glb_fireplace": [ { "position": [ 11.2822, 1.17421, 5.88561 ], "radius": null, "object_id": 676, "object_name": "0_17_676", "object_category": "fireplace", "room_id": null, "room_name": null, "viewpoint_id": "8e63389afc02448a9d0dd695bc50253a", "observable_viewpoint_ids": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_36_newN_2", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_73_newN_1", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "position": [ 12.6724, 0.35426, 7.10327 ], "radius": null, "object_id": 523, "object_name": "0_14_523", "object_category": "fireplace", "room_id": null, "room_name": null, "viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "observable_viewpoint_ids": [ "0_edge_8_newN_2", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "all_observation_viewpoint_ids": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_36_newN_2", "0_edge_93_newN_1", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_73_newN_1", "1407cf2da95e4f73951798295db82ab6", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] } ], "1pXnuDYAj8r.glb_seating": [ { "position": [ 3.47897, 0.11388, 1.52857 ], "radius": null, "object_id": 869, "object_name": "0_24_869", "object_category": "seating", "room_id": null, "room_name": null, "viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "observable_viewpoint_ids": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "5e08b4f21d6342538a9a6361d4cbd1d6", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "position": [ 0.68595, 0.29013, 6.60384 ], "radius": null, "object_id": 920, "object_name": "0_27_920", "object_category": "seating", "room_id": null, "room_name": null, "viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "observable_viewpoint_ids": [ "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "all_observation_viewpoint_ids": [ "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "5e08b4f21d6342538a9a6361d4cbd1d6", "49b4f59afc74417d846ad8cf1634e3d8" ] } ] }, { "episode_id": "A3JYC7C2BS2MXQ:3WI0P0II63VRKCRWZ13VDT6669BDRO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.86458, 3.51415, 6.69023 ], "start_rotation": [ 0, 0.95994, 0, 0.28021 ], "object_category": "stool", "info": { "geodesic_distance": 7.43931, "euclidean_distance": 6.37633, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.60675, 3.51415, 11.18247 ] }, "scene_dataset": null, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "49b4f59afc74417d846ad8cf1634e3d8", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "4f07d9e99e084876b0765220888d2545", "7cdc2565c773401289b95360da22e017", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "0_edge_37_newN_0" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1", "0_edge_125_newN_0", [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ] ] }, { "episode_id": "A3B1P3B6X3AM2B:337RC3OW0752BVW5L26TX33E0N8LVL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.17505, 0.11415, 5.44529 ], "start_rotation": [ 0, 0.56972, 0, 0.82184 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 24.11703, "euclidean_distance": 3.90956, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.94353, 3.51415, 4.40334 ] }, "scene_dataset": null, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "0d3a3b42009441e2a02200423049d804", "path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "0_edge_133_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0_edge_58_newN_3", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "a55dab7d921b47d59b1391d69fa7e464", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a" ], "instruction": "Find the monitor.", "instr_encoding": [ 101, 2424, 1996, 8080, 1012, 102 ], "original_path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c" ], "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ] ] }, { "episode_id": "AB7MYP65HZ2MH:3I0BTBYZAZO6IT2O1K7U6IFKF67Y06", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.80833, 3.51415, 3.69228 ], "start_rotation": [ 0, 0.17976, 0, -0.98371 ], "object_category": "towel", "info": { "geodesic_distance": 9.24943, "euclidean_distance": 6.22085, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.01924, 3.51415, -2.34755 ] }, "scene_dataset": null, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "AONSG5WOC3OX0:3WQQ9FUS6CXSNAEGMW6PRMN1DV98BW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.22052, 3.51415, -6.88511 ], "start_rotation": [ 0, 0.3186, 0, -0.94789 ], "object_category": "seating", "info": { "geodesic_distance": 14.83393, "euclidean_distance": 9.3534, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.96797, 0.11415, 0.69214 ] }, "scene_dataset": null, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "12a0b0641a9a4794bb49bbcf13cea981", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c" ], "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", [ "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204" ], "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843" ], "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0" ], "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", [ "1407cf2da95e4f73951798295db82ab6" ], "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3J2UYBXQQNF4Z9SIV1C2NRVRGXP60R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.22991, 3.51415, 11.69367 ], "start_rotation": [ 0, 0.80446, 0, -0.594 ], "object_category": "seating", "info": { "geodesic_distance": 28.83176, "euclidean_distance": 13.67627, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.84997, 0.11415, 0.5831 ] }, "scene_dataset": null, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "AJQGWGESKQT4Y:39GHHAVOMHUXMSPQYLTT8YQ9JEA4JU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.9438, 0.11415, -3.54931 ], "start_rotation": [ 0, 0.29004, 0, 0.95701 ], "object_category": "shower", "info": { "geodesic_distance": 24.01361, "euclidean_distance": 7.18057, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.26744, 3.51415, -8.61648 ] }, "scene_dataset": null, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A2TUUIV61CR0C7:3PH3VY7DJN0ZV9DEQD2YRKXQM5WWZ3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.41536, 3.68038, -7.03514 ], "start_rotation": [ 0, 0.98922, 0, 0.1464 ], "object_category": "seating", "info": { "geodesic_distance": 18.98905, "euclidean_distance": 8.86166, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.83246, 0.11415, 0.6277 ] }, "scene_dataset": null, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "148a81e548314c67b6f5f226601a27de", "6a3fba49106e4a9fb40cd0bf47dd4d46", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "4f07d9e99e084876b0765220888d2545", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300" ], "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A16K7X677N4WN6:3NAPMVF0ZYIUZJ91TYL8CTO285N27Y", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.95099, 3.51415, 1.67885 ], "start_rotation": [ 0, 0.85338, 0, -0.52129 ], "object_category": "seating", "info": { "geodesic_distance": 16.75378, "euclidean_distance": 4.68975, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.88102, 0.11415, 0.7038 ] }, "scene_dataset": null, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_1", "0_edge_69_newN_0", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "0_edge_69_newN_1", "0_edge_69_newN_0", [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c" ], "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8" ] ] }, { "episode_id": "A16K7X677N4WN6:3NXNZ5RS1C05Z3U0E70NMGWGEC4794", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.24521, 3.51415, -5.94505 ], "start_rotation": [ 0, 0.96131, 0, 0.27546 ], "object_category": "cushion", "info": { "geodesic_distance": 4.81795, "euclidean_distance": 4.59322, "closest_goal_object_id": 83, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.49081, 3.51415, -9.19198 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A3K1P4SPR8XS7R:3M81GAB8A2MYTEEC8QNPDD8172CBQT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.76525, 3.51415, 6.81105 ], "start_rotation": [ 0, 0.3216, 0, 0.94688 ], "object_category": "toilet", "info": { "geodesic_distance": 6.74628, "euclidean_distance": 5.68886, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.19793, 3.51415, 6.30349 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A16K7X677N4WN6:3T111IHZ5GTFHMEFNLYTRXNGFOJR98", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.61475, 0.11415, 8.35813 ], "start_rotation": [ 0, 0.20622, 0, 0.97851 ], "object_category": "counter", "info": { "geodesic_distance": 5.2306, "euclidean_distance": 4.52853, "closest_goal_object_id": 418, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.44164, 0.11415, 11.65079 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A3B1P3B6X3AM2B:337RC3OW0752BVW5L26TX33E0N8LVL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.17505, 0.11415, 5.44529 ], "start_rotation": [ 0, 0.56972, 0, 0.82184 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 24.11703, "euclidean_distance": 3.90956, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.94353, 3.51415, 4.40334 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "0d3a3b42009441e2a02200423049d804", "path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "0_edge_133_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0_edge_58_newN_3", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "a55dab7d921b47d59b1391d69fa7e464", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a" ], "instruction": "Locate the monitor.", "instr_encoding": [ 101, 12453, 1996, 8080, 1012, 102 ], "original_path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c" ], "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ] ] }, { "episode_id": "A3K1P4SPR8XS7R:31T4R4OBOUJ7X113QRAEO6XOKWV7C7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.63899, 3.51415, -0.95104 ], "start_rotation": [ 0, 0.49941, 0, 0.86637 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.28372, "euclidean_distance": 4.50604, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.82754, 3.51415, -4.99709 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] }, { "episode_id": "A2MCG5W6LHSRG9:3DYGAII7PNB0X8FMRV5Q8XDQO5APQ9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.28457, 0.11415, -3.36017 ], "start_rotation": [ 0, 0.99352, 0, 0.11364 ], "object_category": "fireplace", "info": { "geodesic_distance": 10.84735, "euclidean_distance": 9.33989, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.20454, 0.11415, 3.88436 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "AJQGWGESKQT4Y:39GHHAVOMHUXMSPQYLTT8YQ9JEA4JU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.9438, 0.11415, -3.54931 ], "start_rotation": [ 0, 0.29004, 0, 0.95701 ], "object_category": "shower", "info": { "geodesic_distance": 24.01361, "euclidean_distance": 7.18057, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.26744, 3.51415, -8.61648 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A21ZK49H9LSSRY:3HYA4D452TM7ECO7BHJK0L1J6TV2FR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.05062, 3.51415, 10.6161 ], "start_rotation": [ 0, 0.53266, 0, -0.84633 ], "object_category": "counter", "info": { "geodesic_distance": 21.64074, "euclidean_distance": 19.91187, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.10922, 3.51415, -8.96516 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", [ "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "AHIJACUG7ZL9B:37FMASSAYEULCGQTVIIG4BHFGSSBIN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.37346, 2.31806, -3.45156 ], "start_rotation": [ 0, 0.6914, 0, -0.72248 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.73246, "euclidean_distance": 6.19401, "closest_goal_object_id": 4, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.58135, 3.51415, -8.78096 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AB7MYP65HZ2MH:3I0BTBYZAZO6IT2O1K7U6IFKF67Y06", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.80833, 3.51415, 3.69228 ], "start_rotation": [ 0, 0.17976, 0, -0.98371 ], "object_category": "towel", "info": { "geodesic_distance": 9.24943, "euclidean_distance": 6.22085, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.01924, 3.51415, -2.34755 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A75XDPFNICR3T:3F6HPJW4JF39PYA216TK49NJ1WLW2J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.2135, 3.51415, 11.71675 ], "start_rotation": [ 0, 0.99733, 0, 0.07303 ], "object_category": "picture", "info": { "geodesic_distance": 4.72025, "euclidean_distance": 4.3242, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.56628, 3.51415, 7.74884 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad" ] }, { "episode_id": "A2TUUIV61CR0C7:3PH3VY7DJN0ZV9DEQD2YRKXQM5WWZ3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.41536, 3.68038, -7.03514 ], "start_rotation": [ 0, 0.98922, 0, 0.1464 ], "object_category": "seating", "info": { "geodesic_distance": 18.98905, "euclidean_distance": 8.86166, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.83246, 0.11415, 0.6277 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "148a81e548314c67b6f5f226601a27de", "6a3fba49106e4a9fb40cd0bf47dd4d46", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "4f07d9e99e084876b0765220888d2545", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300" ], "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A221PNPQRV4FC4:3WI0P0II63VRKCRWZ13VDT6668ZDRA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.2787, 3.51415, 0.84223 ], "start_rotation": [ 0, 0.35426, 0, 0.93515 ], "object_category": "sofa", "info": { "geodesic_distance": 14.11661, "euclidean_distance": 3.58484, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.04339, 0.11415, 0.1673 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737" ], "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "AXAO7UJYYEFCO:30LSNF239WYRO3QXCPP53IEBMM9I2M", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.29196, 3.51415, 7.23993 ], "start_rotation": [ 0, 1, 0, 0.00187 ], "object_category": "stool", "info": { "geodesic_distance": 5.40953, "euclidean_distance": 4.95641, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.57612, 3.51415, 11.33685 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:3P1L2B7AD3S7LBN8KQKF2B964VLOLY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.16339, -0.08585, -10.80109 ], "start_rotation": [ 0, 0.99999, 0, 0.00361 ], "object_category": "cushion", "info": { "geodesic_distance": 4.81101, "euclidean_distance": 4.45037, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.35108, 0.11415, -9.27981 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "AONSG5WOC3OX0:3WQQ9FUS6CXSNAEGMW6PRMN1DV98BW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.22052, 3.51415, -6.88511 ], "start_rotation": [ 0, 0.3186, 0, -0.94789 ], "object_category": "seating", "info": { "geodesic_distance": 14.83393, "euclidean_distance": 9.3534, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.96797, 0.11415, 0.69214 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "12a0b0641a9a4794bb49bbcf13cea981", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c" ], "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", [ "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204" ], "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843" ], "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0" ], "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", [ "1407cf2da95e4f73951798295db82ab6" ], "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3GNCZX450KQ8AS852Z84IXYLKNEPAS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.03616, 3.51415, 11.55694 ], "start_rotation": [ 0, 0.98255, 0, -0.18602 ], "object_category": "sofa", "info": { "geodesic_distance": 25.10849, "euclidean_distance": 11.90136, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.20965, 0.11415, 0.22127 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "0_edge_125_newN_0", "path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0" ], "refined_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:33PPO7FECXIERDOD9E9MZ15FJCCDI2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.98649, -0.08585, -10.89361 ], "start_rotation": [ 0, 0.86907, 0, -0.4947 ], "object_category": "chair", "info": { "geodesic_distance": 2.16075, "euclidean_distance": 2.03519, "closest_goal_object_id": 833, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.66972, 0.11415, -9.73218 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A3T5UAYFKJBVTA:3I0BTBYZAZO6IT2O1K7U6IFKF7EY0F", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.64456, 0.11415, 11.37071 ], "start_rotation": [ 0, 0.23028, 0, 0.97313 ], "object_category": "plant", "info": { "geodesic_distance": 6.62453, "euclidean_distance": 4.124, "closest_goal_object_id": 925, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.34871, 0.11415, 7.35615 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "0_edge_58_newN_3", "0_edge_73_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", [ "1407cf2da95e4f73951798295db82ab6" ], "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0" ], "0_edge_73_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3I7DHKZYGP3ZD97UT0LIYS4VQ3UF5D", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.06123, 3.51415, 11.51122 ], "start_rotation": [ 0, 0.95649, 0, -0.29178 ], "object_category": "fireplace", "info": { "geodesic_distance": 29.18556, "euclidean_distance": 8.37312, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.13864, 0.11415, 3.76706 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0_edge_125_newN_0", "path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A2MCG5W6LHSRG9:374TNBHA8DYU6M7NII19LO62SBQYQR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.92774, 3.51415, -9.26322 ], "start_rotation": [ 0, 0.83003, 0, -0.55772 ], "object_category": "fireplace", "info": { "geodesic_distance": 19.65128, "euclidean_distance": 13.62852, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.19203, 0.11415, 3.85646 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "cf7c2bd80f934238aede140bb9bd1284", "path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3RR85PK3AV9TU:3E1QT0TDFRC2AISMS6Y6D9RE8LFI81", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.81204, 0.11415, 10.50417 ], "start_rotation": [ 0, 0.65733, 0, 0.7536 ], "object_category": "sofa", "info": { "geodesic_distance": 1.43774, "euclidean_distance": 1.33043, "closest_goal_object_id": 500, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.43112, 0.11415, 11.69077 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ] }, { "episode_id": "AKYXQY5IP7S0Z:3DI28L7YXCH8JD6FX2Z0DK6E2N41EV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.60881, 3.48499, -3.85497 ], "start_rotation": [ 0, 0.89984, 0, 0.43621 ], "object_category": "sofa", "info": { "geodesic_distance": 9.80232, "euclidean_distance": 5.26788, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.99908, 0.11415, 0.17916 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ] ] }, { "episode_id": "A21ZK49H9LSSRY:3NL0RFNU0HQSXCV8G6T59DQMY4GK4H", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.33339, 3.51415, 7.30634 ], "start_rotation": [ 0, 0.97915, 0, -0.20315 ], "object_category": "cushion", "info": { "geodesic_distance": 4.40251, "euclidean_distance": 3.02363, "closest_goal_object_id": 288, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.37491, 3.58449, 10.07437 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] }, { "episode_id": "ACM3TPZKLE7WC:39U1BHVTDNU6IZ2RA12E0ZLC3HJ3TT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.68734, 0.11415, -3.8194 ], "start_rotation": [ 0, 0.98868, 0, -0.15006 ], "object_category": "stool", "info": { "geodesic_distance": 5.40334, "euclidean_distance": 5.11359, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.35436, 0.11415, -0.22691 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A16K7X677N4WN6:3NAPMVF0ZYIUZJ91TYL8CTO285N27Y", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.95099, 3.51415, 1.67885 ], "start_rotation": [ 0, 0.85338, 0, -0.52129 ], "object_category": "seating", "info": { "geodesic_distance": 16.75378, "euclidean_distance": 4.68975, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.88102, 0.11415, 0.7038 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_1", "0_edge_69_newN_0", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "0_edge_69_newN_1", "0_edge_69_newN_0", [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c" ], "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:32XVDSJFP10DKMGOX4NXVBLS3V8M2L", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.34075, 3.51415, 4.08537 ], "start_rotation": [ 0, 0.99748, 0, -0.07101 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.65126, "euclidean_distance": 5.58618, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.40472, 3.51415, 9.39488 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3LRLIPTPESC7Z1BPP73WMGCMQEAAKG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.56425, -0.08585, 1.41641 ], "start_rotation": [ 0, 0.75138, 0, 0.65987 ], "object_category": "counter", "info": { "geodesic_distance": 10.53707, "euclidean_distance": 7.45067, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.50682, 0.11415, 7.81603 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A1P3HHEXWNLJMP:3LKC68YZ3C6NW5Z7O4RHBMQM228WOI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.05513, 3.51415, 8.20095 ], "start_rotation": [ 0, 0.99942, 0, -0.03418 ], "object_category": "sofa", "info": { "geodesic_distance": 21.47872, "euclidean_distance": 8.80946, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.12368, 0.11415, 0.24692 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A2C8CPT60DE5V8:32VNZTT0A97EKG836Q22APC0TV44RM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.5685, 0.11415, 8.34064 ], "start_rotation": [ 0, 0.37576, 0, -0.92672 ], "object_category": "counter", "info": { "geodesic_distance": 7.1701, "euclidean_distance": 6.05983, "closest_goal_object_id": 418, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.46484, 0.11415, 11.68607 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "1eae38cbbaf744f99de90c99d8c013f1", "path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A2C8CPT60DE5V8:37M28K1J0SGCOH577M3KL1C9BODAJI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.1789, 0.11415, -8.63781 ], "start_rotation": [ 0, 0.64097, 0, 0.76757 ], "object_category": "plant", "info": { "geodesic_distance": 7.41535, "euclidean_distance": 6.85675, "closest_goal_object_id": 812, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.11943, 0.11415, -3.85709 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "4f07d9e99e084876b0765220888d2545", "path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3K1P4SPR8XS7R:37XITHEISYCHFKLIZ58KTNOOL9TRCW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.46195, 0.11415, -0.16153 ], "start_rotation": [ 0, 0.26867, 0, -0.96323 ], "object_category": "shower", "info": { "geodesic_distance": 17.91472, "euclidean_distance": 9.69424, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.20253, 3.51415, -8.54396 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "AIIOT9A7ARQZW:3MRNMEIQW79GHEWJUH6ZRHX70GKLD2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.9225, 3.51415, 11.73521 ], "start_rotation": [ 0, 0.98104, 0, 0.19381 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 10.27093, "euclidean_distance": 9.41089, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.84188, 3.51415, 4.41419 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Locate the monitor.", "instr_encoding": [ 101, 12453, 1996, 8080, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "AHIJACUG7ZL9B:326O153BMK12B8MRDVJVEM7NRKNEDE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.86845, 3.51415, -2.31085 ], "start_rotation": [ 0, 0.9245, 0, -0.38119 ], "object_category": "table", "info": { "geodesic_distance": 6.50743, "euclidean_distance": 5.42742, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.47756, 3.51415, 3.18102 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46" ], "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A302KOFOYLD89A:3V0Z7YWSI03WA9AXBWOOI745UNT2VP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.90507, 3.51415, -8.43565 ], "start_rotation": [ 0, 0.13571, 0, 0.99075 ], "object_category": "chair", "info": { "geodesic_distance": 1.66435, "euclidean_distance": 1.48872, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.40309, 3.51415, -8.27453 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A75XDPFNICR3T:3VAR3R6G1R4C643PQ1BBX6N0KUR8OZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.82447, 0.11415, 7.77318 ], "start_rotation": [ 0, 0.49921, 0, 0.86648 ], "object_category": "sofa", "info": { "geodesic_distance": 7.3619, "euclidean_distance": 6.86258, "closest_goal_object_id": 500, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.34583, 0.11415, 11.64452 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ] }, { "episode_id": "AONSG5WOC3OX0:3O7L7BFSHGSJJJ2D59K65JN0JOQEI9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.78572, 3.51415, 11.74362 ], "start_rotation": [ 0, 0.69657, 0, -0.71749 ], "object_category": "sofa", "info": { "geodesic_distance": 27.3304, "euclidean_distance": 12.60568, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.10188, 0.11415, 0.21369 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", [ "f6cbc0517fc14f129f5456e59dc66c76" ], "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", [ "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A33VGSEJ44ORMF:382M9COHEJIOSAXDZQ9KOMBBDKLEUR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.81806, 3.51415, 4.26423 ], "start_rotation": [ 0, 0.59531, 0, -0.8035 ], "object_category": "bed", "info": { "geodesic_distance": 9.63647, "euclidean_distance": 5.63263, "closest_goal_object_id": 284, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.8848, 3.51415, 9.76558 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ] }, { "episode_id": "AKYXQY5IP7S0Z:3OXV7EAXLGT0G1RFEOULPPTYJ9K63X", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.886, 0.11415, -1.03927 ], "start_rotation": [ 0, 0.9364, 0, 0.35093 ], "object_category": "towel", "info": { "geodesic_distance": 12.30371, "euclidean_distance": 11.16925, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.98881, 0.11415, 8.29477 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A12H9WVHOB0E0O:3JMSRU9HQKXO5PMD4GJPK8DURQIEV2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.3188, -0.00559, -1.23105 ], "start_rotation": [ 0, 0.03316, 0, 0.99945 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.2995, "euclidean_distance": 2.79763, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.01671, 0.11415, -0.22638 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3AWETUDC94VHUET91WYJQTOI7V0ZI3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.77, 0.11415, -4.99317 ], "start_rotation": [ 0, 0.01044, 0, -0.99995 ], "object_category": "seating", "info": { "geodesic_distance": 6.93625, "euclidean_distance": 5.73389, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.9091, 0.11415, 0.7377 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", [ "163d61ac7edb43fb958c5d9e69ae11ad" ] ] }, { "episode_id": "ARQR5NIFA1AJ:336YQZE83XH5JJZBFNPVTIO4N4W5M0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.76966, 1.91415, -3.50042 ], "start_rotation": [ 0, 0.97214, 0, -0.2344 ], "object_category": "stool", "info": { "geodesic_distance": 6.43027, "euclidean_distance": 3.33435, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.91126, 3.51415, -5.87155 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", [ "eb8781b9756346c9b97ae6d5e43b6d13" ], "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3DIP6YHAPEVQUDQ0WN8FSUTMGT3E8L", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.57087, 3.51415, -5.04795 ], "start_rotation": [ 0, 0.5561, 0, -0.83111 ], "object_category": "picture", "info": { "geodesic_distance": 2.88499, "euclidean_distance": 2.6307, "closest_goal_object_id": 46, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.28375, 3.51415, -5.00783 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "71859791901b45939806508a364adf17", "path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A16K7X677N4WN6:3LOZAJ85YFGOEYFSBBP66S1QAZU2XN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.28504, -0.08585, -0.68195 ], "start_rotation": [ 0, 0.94531, 0, 0.32618 ], "object_category": "bed", "info": { "geodesic_distance": 14.38068, "euclidean_distance": 11.42769, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.95863, 0.11415, -7.98206 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "AIIOT9A7ARQZW:3T111IHZ5GTFHMEFNLYTRXNGFPCR93", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.64735, 3.51415, 12.10998 ], "start_rotation": [ 0, 0.42618, 0, -0.90464 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 12.02007, "euclidean_distance": 10.86068, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.83804, 3.51415, 4.40585 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Find the monitor.", "instr_encoding": [ 101, 2424, 1996, 8080, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ] ] }, { "episode_id": "AXAO7UJYYEFCO:3YMU66OBIPBH72NK5MS95A7XWSHGHS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.00052, -0.08585, -0.13784 ], "start_rotation": [ 0, 0.75494, 0, -0.65579 ], "object_category": "counter", "info": { "geodesic_distance": 11.93199, "euclidean_distance": 9.59844, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.42585, 0.11415, 7.86234 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "episode_id": "A2AAY4VT9L71SY:386PBUZZXH0TK0WB4DSAUFSK507LJ6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.64614, 1.91415, -2.94121 ], "start_rotation": [ 0, 0.97326, 0, 0.22973 ], "object_category": "chair", "info": { "geodesic_distance": 5.7311, "euclidean_distance": 5.40339, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.52871, 0.11415, -3.37589 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A2TUUIV61CR0C7:30H4UDGLT4L9CTHUZ2Y9ROTLE57PMI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.85046, 0.11415, 10.69779 ], "start_rotation": [ 0, 0.54673, 0, 0.83731 ], "object_category": "bed", "info": { "geodesic_distance": 20.12068, "euclidean_distance": 18.6999, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.95201, 0.11415, -8.06527 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A3RYI5HXC2MJLN:3PQ8K71NHZN1NO23DGQ7S29QL2LAA6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.08755, 1.36588, -2.76447 ], "start_rotation": [ 0, 0.78261, 0, -0.62251 ], "object_category": "sofa", "info": { "geodesic_distance": 4.91413, "euclidean_distance": 3.30094, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.07014, 0.11415, 0.17706 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "AIOOOO5OXWXKM:3MX2NQ3YCBXGDVYFTUR44Z42U9T5XZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.90965, 3.51415, 1.2063 ], "start_rotation": [ 0, 0.33338, 0, 0.94279 ], "object_category": "bed", "info": { "geodesic_distance": 8.73659, "euclidean_distance": 8.29665, "closest_goal_object_id": 79, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.37482, 3.51415, -6.65554 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "AIIOT9A7ARQZW:3T3IWE1XG8QYP08T8CEAD7ENDACQT0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.13096, -0.08585, -11.08082 ], "start_rotation": [ 0, 0.18919, 0, -0.98194 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 24.01156, "euclidean_distance": 16.03456, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.95866, 3.51415, 4.56422 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the monitor.", "instr_encoding": [ 101, 2175, 2000, 1996, 8080, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A3B1P3B6X3AM2B:3QIYRE09Y5KCDJJSQ12J370NGEGN1F", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.70356, 0.11415, -0.71802 ], "start_rotation": [ 0, 0.94293, 0, -0.333 ], "object_category": "plant", "info": { "geodesic_distance": 5.16987, "euclidean_distance": 4.83653, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.51562, 0.11415, -0.4595 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:36H9ULYP64X7K8MFI2PCZ2N084RJF5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.05564, 3.51415, 8.3922 ], "start_rotation": [ 0, 0.9063, 0, 0.42264 ], "object_category": "chair", "info": { "geodesic_distance": 2.05466, "euclidean_distance": 1.61313, "closest_goal_object_id": 232, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.03292, 3.51415, 9.57035 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "8919ba4762914e899c88536f11c7bb92", "path": [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0" ], "refined_path": [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0" ] }, { "episode_id": "A26LOVXF4QZZCO:3GM6G9ZBKP074LA1GJ7TWYUI38MTML", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.27463, 3.51415, 7.8673 ], "start_rotation": [ 0, 0.04157, 0, -0.99914 ], "object_category": "chair", "info": { "geodesic_distance": 3.56968, "euclidean_distance": 3.21243, "closest_goal_object_id": 299, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.63613, 3.51415, 10.83205 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:3JPSL1DZ5U2877WSMKVCE8TQK8HNAY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.26208, 3.51415, -6.58076 ], "start_rotation": [ 0, 0.76481, 0, -0.64426 ], "object_category": "chair", "info": { "geodesic_distance": 4.07489, "euclidean_distance": 3.49976, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.44642, 3.51415, -8.30888 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "AIIOT9A7ARQZW:3K5TEWLKGXE0LUOZ0Z9G5NBMJLBVII", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.65555, 3.51415, 12.42767 ], "start_rotation": [ 0, 0.99571, 0, 0.09258 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 8.84567, "euclidean_distance": 8.37674, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.86656, 3.51415, 4.42793 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "8f183f5d34d544e5a4d04bc8f28f10e8", "path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the monitor.", "instr_encoding": [ 101, 2175, 2000, 1996, 8080, 1012, 102 ], "original_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A2L26DMSVUEDP6:35H6S234SC33UGEJS7IE4MRIX4R560", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.35185, 0.11415, -0.9933 ], "start_rotation": [ 0, 0.92877, 0, -0.37066 ], "object_category": "bed", "info": { "geodesic_distance": 8.79048, "euclidean_distance": 7.90812, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.1244, 0.11415, -8.01178 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "AE861G0AY5RGT:3TXWC2NHN1TRI1ES2AYYH7SC1QSS9N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.22087, 0.11415, 5.71833 ], "start_rotation": [ 0, 0.81736, 0, -0.57612 ], "object_category": "sink", "info": { "geodesic_distance": 4.82046, "euclidean_distance": 4.21804, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.13206, 0.11415, 8.71297 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A3JYC7C2BS2MXQ:3WI0P0II63VRKCRWZ13VDT6669BDRO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.86458, 3.51415, 6.69023 ], "start_rotation": [ 0, 0.95994, 0, 0.28021 ], "object_category": "stool", "info": { "geodesic_distance": 7.43931, "euclidean_distance": 6.37633, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.60675, 3.51415, 11.18247 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "49b4f59afc74417d846ad8cf1634e3d8", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "4f07d9e99e084876b0765220888d2545", "7cdc2565c773401289b95360da22e017", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "0_edge_37_newN_0" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1", "0_edge_125_newN_0", [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ] ] }, { "episode_id": "A75XDPFNICR3T:3VFJCI1K412UWW1N1R43JE93J1YGR8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.28301, 3.51415, 6.77598 ], "start_rotation": [ 0, 0.63184, 0, 0.7751 ], "object_category": "counter", "info": { "geodesic_distance": 17.03183, "euclidean_distance": 15.8495, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.13488, 3.51415, -8.92037 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "416df61743e24e828609f0698df3f51b", "path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "0_edge_125_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b" ], "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A2TUUIV61CR0C7:3CTOC39K39TU5F790JR0BAAJAHJ7J2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.46992, 0.11415, -5.847 ], "start_rotation": [ 0, 0.27733, 0, -0.96078 ], "object_category": "chair", "info": { "geodesic_distance": 1.44751, "euclidean_distance": 1.34291, "closest_goal_object_id": 827, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.15455, 0.11415, -5.6809 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "6d51167d46ea4b47b9c7e9afb12ed459", "path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "AXAO7UJYYEFCO:3Z4XG4ZF4AUZ0DHHRSY7GJETWZRX8Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.86413, 0.11415, -5.03277 ], "start_rotation": [ 0, 0.46705, 0, 0.88423 ], "object_category": "bed", "info": { "geodesic_distance": 6.0352, "euclidean_distance": 5.14315, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.04591, 0.11415, -7.97587 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A19C2SO0IMRZ1L:3EICBYG646Z0HW25R0ZBRW2XBR3CJR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.75616, 1.91415, -3.16308 ], "start_rotation": [ 0, 0.92651, 0, -0.37628 ], "object_category": "table", "info": { "geodesic_distance": 4.99658, "euclidean_distance": 4.35855, "closest_goal_object_id": 678, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.15495, 0.11415, -1.2889 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A21ZK49H9LSSRY:3UJ1CZ6IZJS8HECGZKLH5RNAFUT5ST", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.18324, 3.51415, 9.85123 ], "start_rotation": [ 0, 0.01942, 0, 0.99981 ], "object_category": "shower", "info": { "geodesic_distance": 5.28504, "euclidean_distance": 4.55786, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.16897, 3.51415, 6.33393 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "138030a069484c288b3b77f8a7cbd7be", "path": [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "7e1850bf73f24a7f9ab824a82143e1b6", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A3T5UAYFKJBVTA:32VNZTT0A97EKG836Q22APC0TWV4RF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.32262, 0.02726, -10.11138 ], "start_rotation": [ 0, 0.6936, 0, -0.72036 ], "object_category": "sink", "info": { "geodesic_distance": 2.94283, "euclidean_distance": 1.76272, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.79027, 0.11415, -8.31977 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ], "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "AKYXQY5IP7S0Z:3KRVW3HTZPO6PLXMRJ23MTYW1PZSMM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.51633, 0.11415, -5.09474 ], "start_rotation": [ 0, 0.48774, 0, 0.87299 ], "object_category": "sink", "info": { "geodesic_distance": 2.60484, "euclidean_distance": 2.36, "closest_goal_object_id": 818, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.85049, 0.11415, -4.89279 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "AZPZDX26SYMFY:3DQQ64TANIO5H5B8344W0MVCC6NPW9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.3899, 0.11415, 10.32341 ], "start_rotation": [ 0, 0.03127, 0, 0.99951 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.53093, "euclidean_distance": 11.75037, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.09126, 0.11415, -0.13315 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_84_newN_0", "path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A26LOVXF4QZZCO:3LQ8PUHQFNVV3TTFVASCQMKDB54HIG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.17054, 3.51415, 10.92168 ], "start_rotation": [ 0, 0.26291, 0, 0.96482 ], "object_category": "sink", "info": { "geodesic_distance": 4.07369, "euclidean_distance": 3.60557, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.45049, 3.51415, 7.48873 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A5WWHKD82I8UE:35LDD5557C7812KEMAT1V77MKVQKM1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.80293, 3.51415, 11.56245 ], "start_rotation": [ 0, 0.42546, 0, -0.90498 ], "object_category": "stool", "info": { "geodesic_distance": 13.97449, "euclidean_distance": 9.31955, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.45272, 3.51415, 11.2642 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "AKYXQY5IP7S0Z:36DSNE9QZ711QLZ8H582MWWE06OJOZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.75314, 3.68034, 9.98359 ], "start_rotation": [ 0, 0.56651, 0, 0.82405 ], "object_category": "towel", "info": { "geodesic_distance": 18.49835, "euclidean_distance": 12.80697, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.06704, 3.51415, -2.27177 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A75XDPFNICR3T:3JJVG1YBED090SVEOYZMF2DAB6HB58", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.33267, 3.51415, 3.03542 ], "start_rotation": [ 0, 0.16721, 0, -0.98592 ], "object_category": "stool", "info": { "geodesic_distance": 13.2545, "euclidean_distance": 11.20245, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.09813, 3.51415, -5.94849 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A272X64FOZFYLB:308XBLVESK7Y5FTCL5CPI3I63NURBO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.7677, 3.51415, 2.67645 ], "start_rotation": [ 0, 0.43066, 0, -0.90251 ], "object_category": "stool", "info": { "geodesic_distance": 13.00386, "euclidean_distance": 10.65448, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.01215, 3.51415, -5.93593 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "AIIOT9A7ARQZW:3Z7ISHFUH2YO58HWSAMSD4U44ZUZ8U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.34833, -0.08585, -12.05414 ], "start_rotation": [ 0, 0.39904, 0, 0.91694 ], "object_category": "cushion", "info": { "geodesic_distance": 6.97028, "euclidean_distance": 6.60671, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.24587, 0.11415, -9.15723 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "AKYXQY5IP7S0Z:3QY7M81QH9PPGZDRI4RCCPAWP58K71", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.83934, 0.11415, -8.90288 ], "start_rotation": [ 0, 0.75234, 0, 0.65877 ], "object_category": "stool", "info": { "geodesic_distance": 9.50971, "euclidean_distance": 8.67789, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.36146, 0.11415, -0.18136 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "AZPZDX26SYMFY:3YOH7BII0BARRPEN02USI3QZBOJVKA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.66532, 0.11415, 8.27995 ], "start_rotation": [ 0, 0.93053, 0, -0.36623 ], "object_category": "shower", "info": { "geodesic_distance": 22.65198, "euclidean_distance": 17.24509, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.28541, 3.51415, -8.63656 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "1407cf2da95e4f73951798295db82ab6", "path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "ACI0C2WU1NABK:323Q6SJS8KJBT2RPU2MRNP7LVDYFH9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.70491, 0.11415, 2.46619 ], "start_rotation": [ 0, 0.03222, 0, -0.99948 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.81602, "euclidean_distance": 3.24992, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.67478, 0.11415, -0.19836 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981" ] }, { "episode_id": "AHIJACUG7ZL9B:3UXUOQ9OKG0J4M456DENIB70KUPA7P", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.40242, -0.08585, -11.12781 ], "start_rotation": [ 0, 0.22548, 0, -0.97425 ], "object_category": "sofa", "info": { "geodesic_distance": 12.62489, "euclidean_distance": 11.89823, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.13227, 0.11415, 0.18768 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3R2PKQ87NYBHV7UQM78PIRS9SRXIMK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.81502, 0.47879, -2.64435 ], "start_rotation": [ 0, 0.40429, 0, -0.91463 ], "object_category": "plant", "info": { "geodesic_distance": 5.86771, "euclidean_distance": 3.45658, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.55335, 0.11415, -0.56417 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "ACM3TPZKLE7WC:3MMN5BL1W17254C71412ELQK99UM3I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.69046, 0.06892, 0.07604 ], "start_rotation": [ 0, 0.95118, 0, 0.30864 ], "object_category": "chair", "info": { "geodesic_distance": 2.10791, "euclidean_distance": 1.49635, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.82268, 0.11415, -0.9033 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3" ] }, { "episode_id": "A3K1P4SPR8XS7R:33SA9F9TRZX1KEMIUQOL6AW8Y0FEW9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.49779, 0.11415, -5.39629 ], "start_rotation": [ 0, 0.48034, 0, -0.87708 ], "object_category": "table", "info": { "geodesic_distance": 1.58529, "euclidean_distance": 1.44965, "closest_goal_object_id": 705, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.2204, 0.11415, -4.68844 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "ARQR5NIFA1AJ:3UOUJI6MTFHXYAOUUVZCCBWITQJUX3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.02021, 3.51415, 9.13404 ], "start_rotation": [ 0, 0.99897, 0, 0.04532 ], "object_category": "shower", "info": { "geodesic_distance": 4.15323, "euclidean_distance": 3.48067, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.10885, 3.51415, 6.20484 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "c3b8b8e1f0994859869b42fb760fce9f", "path": [ "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f" ], "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A3K1P4SPR8XS7R:3OB0CAO74JSHTT8KZSEFCAE11N7YH6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.63547, 3.55395, -8.3522 ], "start_rotation": [ 0, 0.93927, 0, -0.34319 ], "object_category": "sofa", "info": { "geodesic_distance": 18.14041, "euclidean_distance": 9.83553, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.03883, 0.11415, 0.17413 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A314XJY8V1YL12:337RC3OW0752BVW5L26TX33E0OBLVQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.60419, 0.11415, 4.51409 ], "start_rotation": [ 0, 0.87528, 0, -0.48361 ], "object_category": "towel", "info": { "geodesic_distance": 8.18251, "euclidean_distance": 7.67858, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.92946, 0.11415, 8.32312 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "49b4f59afc74417d846ad8cf1634e3d8", "0d3a3b42009441e2a02200423049d804", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A1BZNPQ0H7ZSER:32Q90QCQ1UOAPES15C5IIZ2DBT3KEG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.48169, 0.11415, 7.41564 ], "start_rotation": [ 0, 0.25683, 0, 0.96646 ], "object_category": "toilet", "info": { "geodesic_distance": 7.126, "euclidean_distance": 6.58983, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.9238, 0.11415, 8.8525 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "1407cf2da95e4f73951798295db82ab6", "path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2TUUIV61CR0C7:3YOH7BII0BARRPEN02USI3QZBNDVK2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.69037, 3.51415, -9.45839 ], "start_rotation": [ 0, 0.74979, 0, 0.66168 ], "object_category": "table", "info": { "geodesic_distance": 15.38379, "euclidean_distance": 14.01969, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.39977, 3.51415, 3.13746 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A2CWA5VQZ6IWMQ:3RKNTXVS3O1MLZMM4FGGFZNQTST4AT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.72164, 3.51415, -6.12393 ], "start_rotation": [ 0, 0.98974, 0, 0.14285 ], "object_category": "plant", "info": { "geodesic_distance": 11.9873, "euclidean_distance": 11.21128, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.11319, 3.51415, 4.44083 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A3RR85PK3AV9TU:3PS7W85Z815SX1R7RA3ORCOY38OT9T", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.58616, 0.11415, -4.92756 ], "start_rotation": [ 0, 0.67525, 0, -0.73759 ], "object_category": "seating", "info": { "geodesic_distance": 15.00355, "euclidean_distance": 9.52391, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.93933, 0.11415, 0.76792 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa" ], "refined_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa" ] }, { "episode_id": "AZPZDX26SYMFY:3SKEMFQBZ58TGDIAS9JIQP6R0P9K8J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.81303, 3.51415, -8.71853 ], "start_rotation": [ 0, 0.99354, 0, -0.11347 ], "object_category": "fireplace", "info": { "geodesic_distance": 20.08154, "euclidean_distance": 13.30186, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.13445, 0.11415, 3.94818 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A21ZK49H9LSSRY:3JWH6J9I9UGDQH1KSYV89JDW2RPBN6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.66713, 0.11415, -3.38472 ], "start_rotation": [ 0, 0.55648, 0, -0.83086 ], "object_category": "chair", "info": { "geodesic_distance": 3.27623, "euclidean_distance": 2.82858, "closest_goal_object_id": 827, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.05751, 0.11415, -5.71883 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", [ "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "AJQGWGESKQT4Y:3MD9PLUKKKH98F40YCBBV1KZTUSZNH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.99391, 0.11415, 8.51322 ], "start_rotation": [ 0, 0.01156, 0, -0.99993 ], "object_category": "bed", "info": { "geodesic_distance": 22.31765, "euclidean_distance": 16.92972, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.98617, 0.11415, -8.01212 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "AHIJACUG7ZL9B:3D8YOU6S9GNKFV4YT8QMCYJYWMZ6U0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.33503, 0.11415, 2.55691 ], "start_rotation": [ 0, 0.76189, 0, 0.64771 ], "object_category": "toilet", "info": { "geodesic_distance": 9.00444, "euclidean_distance": 7.09745, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.00487, 0.11415, 8.90349 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3J2UYBXQQNF4Z9SIV1C2NRVRGXP60R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.22991, 3.51415, 11.69367 ], "start_rotation": [ 0, 0.80446, 0, -0.594 ], "object_category": "seating", "info": { "geodesic_distance": 28.83176, "euclidean_distance": 13.67627, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.84997, 0.11415, 0.5831 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A1P3HHEXWNLJMP:3JPSL1DZ5U2877WSMKVCE8TQK92NAL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.42239, 3.51415, 6.91376 ], "start_rotation": [ 0, 0.85738, 0, -0.51468 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.37596, "euclidean_distance": 4.62212, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.41841, 3.51415, 9.26806 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "0_edge_125_newN_1" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1" ] }, { "episode_id": "A5WWHKD82I8UE:3BF51CHDTXDKWYCZRK36KIKHPA10HG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.01896, 3.51415, 12.52363 ], "start_rotation": [ 0, 0.06154, 0, -0.9981 ], "object_category": "towel", "info": { "geodesic_distance": 18.02551, "euclidean_distance": 15.61301, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.02212, 3.51415, -2.35253 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "8f183f5d34d544e5a4d04bc8f28f10e8", "path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A21ZK49H9LSSRY:38BQUHLA9Y3RRT5TK2LU2OOV40KOM9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.37905, 0.11415, -3.78285 ], "start_rotation": [ 0, 0.94271, 0, 0.33363 ], "object_category": "toilet", "info": { "geodesic_distance": 10.51493, "euclidean_distance": 6.4541, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.68459, 0.11415, -4.4826 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AZPZDX26SYMFY:3NVC2EB65S22ZL1LK7PD8GDRIIPY3Z", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.04374, 0.11415, -3.42665 ], "start_rotation": [ 0, 0.47184, 0, -0.88169 ], "object_category": "stool", "info": { "geodesic_distance": 15.35262, "euclidean_distance": 4.88737, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.28795, 0.11415, -0.17311 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] ] }, { "episode_id": "A3G5OWGKHW6OL5:3TXWC2NHN1TRI1ES2AYYH7SC1Q29SE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.88256, -0.00034, -0.4139 ], "start_rotation": [ 0, 0.95405, 0, -0.29965 ], "object_category": "picture", "info": { "geodesic_distance": 5.21482, "euclidean_distance": 4.42857, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.09543, 0.11415, -1.68484 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", [ "1407cf2da95e4f73951798295db82ab6" ], "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3IGI0VL649NX9BQTW30UF3DV9QDNOR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.03579, -0.08585, -11.58902 ], "start_rotation": [ 0, 0.99271, 0, -0.12057 ], "object_category": "plant", "info": { "geodesic_distance": 11.05942, "euclidean_distance": 10.46298, "closest_goal_object_id": 812, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.20049, 0.11415, -3.93264 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2TUUIV61CR0C7:3OCHAWUVGQNJVEJI0HVA6ONKRYGXK2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.04914, 0.11415, 3.52701 ], "start_rotation": [ 0, 0.90568, 0, 0.42397 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.79365, "euclidean_distance": 5.37603, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.77173, 0.11415, -1.09805 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A26LOVXF4QZZCO:3NJM2BJS4Y9W3753MD4VOSO9KRVCPF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.39132, 0.11415, -2.69487 ], "start_rotation": [ 0, 0.96423, 0, -0.26505 ], "object_category": "cushion", "info": { "geodesic_distance": 1.35595, "euclidean_distance": 1.22702, "closest_goal_object_id": 713, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.32501, 0.11415, -3.33068 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3TR2532VIRXB1FT4H9M85WANERI6JQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.35588, 1.8669, -2.3937 ], "start_rotation": [ 0, 0.9998, 0, 0.01985 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.78258, "euclidean_distance": 4.27476, "closest_goal_object_id": 170, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.39057, 3.51415, -2.27644 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ] }, { "episode_id": "ACI0C2WU1NABK:3FUI0JHJPZ11JI4XVMWNIMHE83833J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.47966, 0.11415, -0.07279 ], "start_rotation": [ 0, 0.90365, 0, -0.42828 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.8683, "euclidean_distance": 6.32286, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.00716, 0.11415, -6.21431 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_133_newN_0", "path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "AIIOT9A7ARQZW:3UWN2HHPU08C73IM3KH3Z8NW6CZNS1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.29474, 0.11415, 2.21915 ], "start_rotation": [ 0, 0.97292, 0, 0.23112 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 19.82381, "euclidean_distance": 4.76999, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.89635, 3.51415, 4.5587 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "0_edge_58_newN_3", "path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the monitor.", "instr_encoding": [ 101, 2175, 2000, 1996, 8080, 1012, 102 ], "original_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A1P3HHEXWNLJMP:3TAYZSBPLNBGIHTTH1JJ7KKYUAK2SM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.84997, -0.05986, -9.33092 ], "start_rotation": [ 0, 0.19849, 0, -0.9801 ], "object_category": "toilet", "info": { "geodesic_distance": 9.46231, "euclidean_distance": 8.51405, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.78413, 0.11415, -4.41885 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A9K0CV70JWG1W:37ZHEEHM6YPJK15KXYZDV3TUEFG73Z", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.11252, 3.51415, -5.70939 ], "start_rotation": [ 0, 0.57029, 0, 0.82144 ], "object_category": "plant", "info": { "geodesic_distance": 13.12961, "euclidean_distance": 11.36943, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.06977, 3.51415, 4.40458 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ] }, { "episode_id": "A2J5DN5UMU0A3Z:30BUDKLTXFY77V7YYP1CGAJVEYZ5EX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.92087, -0.04306, -1.17157 ], "start_rotation": [ 0, 0.1589, 0, -0.98729 ], "object_category": "picture", "info": { "geodesic_distance": 6.42478, "euclidean_distance": 5.1957, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.18734, 0.11415, -1.73961 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0d3a3b42009441e2a02200423049d804" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "0d3a3b42009441e2a02200423049d804" ] }, { "episode_id": "AJQGWGESKQT4Y:3OLF68YTNB4WJFJBOWCZ63KHICHAFQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.72705, 0.11415, 7.05478 ], "start_rotation": [ 0, 0.98692, 0, 0.1612 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.83832, "euclidean_distance": 8.71617, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.71054, 0.11415, -0.9507 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "1407cf2da95e4f73951798295db82ab6", "path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A28U7B76HLCS1U:3FTF2T8WLTLKPIV1MF8ZEWVX7YW9WH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.1422, 3.51415, -8.04401 ], "start_rotation": [ 0, 0.3771, 0, 0.92617 ], "object_category": "fireplace", "info": { "geodesic_distance": 22.80004, "euclidean_distance": 13.40818, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.1888, 0.11415, 3.90514 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A1F6MWP9A0XLJQ:33M4IA01QI45IIWDQ147709YMJDXRK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.88266, 0.11415, -4.58263 ], "start_rotation": [ 0, 0.40456, 0, 0.91451 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.35693, "euclidean_distance": 5.97777, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.80575, 0.11415, -1.10866 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A1P3HHEXWNLJMP:3P1L2B7AD3S7LBN8KQKF2B964QJLOJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.06512, 3.5468, 11.45558 ], "start_rotation": [ 0, 0.97552, 0, 0.2199 ], "object_category": "picture", "info": { "geodesic_distance": 5.09593, "euclidean_distance": 4.52847, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.50281, 3.51415, 7.72499 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad" ] }, { "episode_id": "A3RR85PK3AV9TU:3DQQ64TANIO5H5B8344W0MVCBVUPWT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.42675, 3.51415, -5.29376 ], "start_rotation": [ 0, 0.97595, 0, -0.21799 ], "object_category": "sofa", "info": { "geodesic_distance": 11.55676, "euclidean_distance": 6.65593, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.00176, 0.11415, 0.11083 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "29f8bc9c86e94a3692ec50fbad2e7204", "path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_1", "0_edge_69_newN_0", "6043285f84fe401d97d017c42b426fd6", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "refined_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204" ], "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "0_edge_69_newN_1", "0_edge_69_newN_0", [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "6043285f84fe401d97d017c42b426fd6", [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ] ] }, { "episode_id": "A3T5UAYFKJBVTA:326O153BMK12B8MRDVJVEM7NQ6YEDW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.77987, 3.51415, -6.94204 ], "start_rotation": [ 0, 0.99958, 0, -0.02913 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.11943, "euclidean_distance": 3.9676, "closest_goal_object_id": 10, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.09918, 3.51415, -8.52046 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "AJQGWGESKQT4Y:3R08VXYT7EYGBZ787IAF004RB3TW72", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.22379, 3.51415, 3.31082 ], "start_rotation": [ 0, 0.41982, 0, 0.90761 ], "object_category": "towel", "info": { "geodesic_distance": 8.48615, "euclidean_distance": 6.44149, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.92184, 3.51415, -2.33448 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A3TN1QCPUCJZBF:3AAJC4I4FIVDPPDFJEJJ2U3IJZNZJQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.52569, -0.08585, -0.89784 ], "start_rotation": [ 0, 0.99665, 0, -0.08181 ], "object_category": "toilet", "info": { "geodesic_distance": 14.58306, "euclidean_distance": 9.762, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.03187, 0.11415, 8.90213 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", [ "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2AAY4VT9L71SY:38JBBYETQQDPBC3YKKI2BIDHDTF4EJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.81086, 0.11415, -9.2195 ], "start_rotation": [ 0, 0.65762, 0, 0.75335 ], "object_category": "shower", "info": { "geodesic_distance": 19.08041, "euclidean_distance": 3.51285, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.23643, 3.51415, -8.63136 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "A16K7X677N4WN6:3E1QT0TDFRC2AISMS6Y6D9RE7C08IT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.20017, 3.53339, -8.12073 ], "start_rotation": [ 0, 0.77929, 0, -0.62667 ], "object_category": "table", "info": { "geodesic_distance": 13.3249, "euclidean_distance": 11.34646, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.48557, 3.51415, 3.08018 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:3J2UYBXQQNF4Z9SIV1C2NRVRGQJ061", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.95774, 0.11415, -8.61236 ], "start_rotation": [ 0, 0.80015, 0, 0.5998 ], "object_category": "seating", "info": { "geodesic_distance": 11.16825, "euclidean_distance": 10.58085, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.0533, 0.11415, 0.69689 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG8543H5G", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.41564, 0.11415, 4.59941 ], "start_rotation": [ 0, 0.98451, 0, 0.1753 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.37148, "euclidean_distance": 3.20062, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.77436, 0.11415, 6.89627 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A2TUUIV61CR0C7:3DBQWDE4Y81B11KBRO4V6XD4SOB5NT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.79624, 3.51415, 7.01764 ], "start_rotation": [ 0, 0.66686, 0, -0.74519 ], "object_category": "stool", "info": { "geodesic_distance": 9.64428, "euclidean_distance": 8.48497, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.41119, 3.51415, 11.36679 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A3T5UAYFKJBVTA:3SUWZRL0M0G3QZ7C38BH8GXV9KBE64", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.92284, -0.04517, -1.12866 ], "start_rotation": [ 0, 0.91736, 0, -0.39805 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.88444, "euclidean_distance": 7.96796, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.05179, 0.11415, -6.23045 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A2MCG5W6LHSRG9:3JZQSN0I3SDXT6WEAW492PVKG65FGG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.2283, 0.11415, 10.65669 ], "start_rotation": [ 0, 0.67179, 0, -0.74074 ], "object_category": "towel", "info": { "geodesic_distance": 4.40918, "euclidean_distance": 3.11016, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.94636, 0.11415, 8.46903 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", [ "7f6caa8939ec48be91f7404a9ff10624" ], "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A2GQH4SWIOFH2L:3ZOTGHDK5KEUPOIY4ZHGEXN1VA4SOW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.31994, 0.01112, 0.08102 ], "start_rotation": [ 0, 0.513, 0, 0.85839 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.12118, "euclidean_distance": 7.88248, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.13511, 0.11415, -6.21415 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9" ] }, { "episode_id": "A34CQE6RGU49L7:3R2PKQ87NYBHV7UQM78PIRS9RHWMI2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.31167, 3.51415, 3.02588 ], "start_rotation": [ 0, 0.85911, 0, 0.51179 ], "object_category": "fireplace", "info": { "geodesic_distance": 20.42835, "euclidean_distance": 3.95603, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.14105, 0.11415, 3.92496 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "ARQR5NIFA1AJ:3GNCZX450KQ8AS852Z84IXYLJA5APD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.25539, 0.11415, 0.57811 ], "start_rotation": [ 0, 0.24289, 0, -0.97005 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.56613, "euclidean_distance": 6.72948, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.65442, 0.11415, 6.9147 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "c3c0a1a738a749a7a986d64c872b7671", "path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", [ "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A16K7X677N4WN6:3C5W7UE9CHTEL2JLLT8QL1FOFSHXMQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.10554, 3.51415, 4.43416 ], "start_rotation": [ 0, 0.92239, 0, 0.38625 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.72387, "euclidean_distance": 5.25516, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.33097, 3.51415, 8.1008 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "AB7MYP65HZ2MH:32N49TQG3ILLFC51OBH3OPN3653AVA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.54679, 3.51415, -7.12194 ], "start_rotation": [ 0, 0.87956, 0, -0.47578 ], "object_category": "plant", "info": { "geodesic_distance": 17.22324, "euclidean_distance": 11.68292, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.9261, 3.51415, 4.51795 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "fec0a4503f7d4cee8f491934eff0d498", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c" ], "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "AKYXQY5IP7S0Z:3R8YZBNQ9JLBR2BMV9B98BM5O8I7QS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.03635, 3.51415, -5.62938 ], "start_rotation": [ 0, 0.72956, 0, -0.68392 ], "object_category": "sofa", "info": { "geodesic_distance": 14.39472, "euclidean_distance": 7.28969, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.08906, 0.11415, 0.10172 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "148a81e548314c67b6f5f226601a27de", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A2TUUIV61CR0C7:3EJJQNKU9T88WSWYLXML4EL4XNNHRR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.7688, 3.68354, 9.93427 ], "start_rotation": [ 0, 0.61988, 0, 0.78469 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.85656, "euclidean_distance": 2.657, "closest_goal_object_id": 204, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.79755, 3.51415, 8.06103 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A22VLXXVIEJSD1:3QL2OFSM98LW0MTQ6YR3K3JEK8RCN8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.15154, 3.51415, 9.82934 ], "start_rotation": [ 0, 0.50259, 0, 0.86452 ], "object_category": "sink", "info": { "geodesic_distance": 7.1188, "euclidean_distance": 6.25173, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.30092, 3.51415, 7.37925 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", [ "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A1K581IY10MNC0:308XBLVESK7Y5FTCL5CPI3I63KABRI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.7342, 3.51415, 12.41006 ], "start_rotation": [ 0, 0.68781, 0, -0.72589 ], "object_category": "counter", "info": { "geodesic_distance": 24.52914, "euclidean_distance": 21.99049, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.0295, 3.51415, -9.0965 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "ALCPF5NANBDSZ:3JC6VJ2SADM4HIQMIKZQKRT4TKWA54", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.17292, 3.51415, -7.04371 ], "start_rotation": [ 0, 0.92595, 0, -0.37764 ], "object_category": "table", "info": { "geodesic_distance": 16.39968, "euclidean_distance": 10.2089, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.55603, 3.51415, 3.11618 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A3RR85PK3AV9TU:3ZPPDN2SLXZQ8I9A1FETSQOXZN59E0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.17807, 0.11415, 5.37374 ], "start_rotation": [ 0, 0.71856, 0, -0.69547 ], "object_category": "plant", "info": { "geodesic_distance": 2.9396, "euclidean_distance": 2.13701, "closest_goal_object_id": 925, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.26873, 0.11415, 7.43665 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "0d3a3b42009441e2a02200423049d804", "path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A2GQH4SWIOFH2L:3O7L7BFSHGSJJJ2D59K65JN0JHGEIL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.30346, 3.71415, -6.56096 ], "start_rotation": [ 0, 0.99715, 0, -0.07548 ], "object_category": "table", "info": { "geodesic_distance": 15.12655, "euclidean_distance": 9.68943, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.49752, 3.51415, 3.06869 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A2L26DMSVUEDP6:32XVDSJFP10DKMGOX4NXVBLS2LVM2N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.95045, 2.61417, -3.779 ], "start_rotation": [ 0, 0.05374, 0, 0.99855 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.15408, "euclidean_distance": 5.66071, "closest_goal_object_id": 4, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.47061, 3.51415, -8.87751 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3EJPLAJKEOJ11UY8ZVPUTQYDYXHZ67", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.79398, 0.11415, 8.09957 ], "start_rotation": [ 0, 0.40224, 0, 0.91554 ], "object_category": "shower", "info": { "geodesic_distance": 25.97356, "euclidean_distance": 17.44324, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.217, 3.51415, -8.61021 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b" ], "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A2AAY4VT9L71SY:30ZX6P7VFAYNJEA3U7A5FJTBYQQ2JN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.08483, 0.11415, -8.37955 ], "start_rotation": [ 0, 0.34402, 0, 0.93896 ], "object_category": "shower", "info": { "geodesic_distance": 22.02449, "euclidean_distance": 5.19609, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.17992, 3.51415, -8.63111 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "f4d601b86e624ad2a8d77280f36c7872", "path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0" ], "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A2MCG5W6LHSRG9:3VW6495TLL33FOY99SI3YA94Q8MYYK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.08428, 3.51415, 6.98722 ], "start_rotation": [ 0, 0.87038, 0, -0.49238 ], "object_category": "fireplace", "info": { "geodesic_distance": 27.91979, "euclidean_distance": 4.9749, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.08976, 0.11415, 3.81097 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "refined_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ] }, { "episode_id": "AIIOT9A7ARQZW:3Z7EFSHGNBH1CG7U84ECI5ACMOVCXQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.98805, 0.11415, -3.44579 ], "start_rotation": [ 0, 0.21032, 0, -0.97763 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 15.90904, "euclidean_distance": 8.73881, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.91845, 3.51415, 4.561 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the monitor.", "instr_encoding": [ 101, 2424, 1996, 8080, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A1P3HHEXWNLJMP:3GS6S824SS05EKZVNPR4WXQHCKIWN2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.27141, 0.11415, 3.2332 ], "start_rotation": [ 0, 0.62144, 0, 0.78346 ], "object_category": "bed", "info": { "geodesic_distance": 12.79171, "euclidean_distance": 11.8282, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.97903, 0.11415, -8.01896 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "AOG0PUCLMU0HH:3J4Q2Z4UT06QHHCN3HJL0RLMHV0WQK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.43046, 3.51415, 12.51406 ], "start_rotation": [ 0, 0.99696, 0, -0.07793 ], "object_category": "bed", "info": { "geodesic_distance": 10.35214, "euclidean_distance": 5.25736, "closest_goal_object_id": 284, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.94769, 3.51415, 9.80039 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "8f183f5d34d544e5a4d04bc8f28f10e8", "path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "refined_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ] }, { "episode_id": "A2TUUIV61CR0C7:3OS46CRSLH2KSATYYY0R8KLH9FQV63", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.59833, 0.11415, 8.00185 ], "start_rotation": [ 0, 0.32797, 0, -0.94469 ], "object_category": "shower", "info": { "geodesic_distance": 27.74617, "euclidean_distance": 17.81483, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.25824, 3.51415, -8.66662 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "1eae38cbbaf744f99de90c99d8c013f1", "path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A2Q6L9LKSNU7EB:32EYX73OY2CD1E2ILWTKNTAUS5ARU8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.47431, 3.51415, 12.18252 ], "start_rotation": [ 0, 0.40569, 0, -0.91401 ], "object_category": "sink", "info": { "geodesic_distance": 7.055, "euclidean_distance": 5.73621, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.33924, 3.51415, 7.3008 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_125_newN_0", "path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de" ] ] }, { "episode_id": "A3TN1QCPUCJZBF:3Z9WI9EOZ1RM9OJ3VDDO32ZQ32IHK2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.18138, 3.51415, -8.23604 ], "start_rotation": [ 0, 0.8032, 0, -0.59572 ], "object_category": "bathtub", "info": { "geodesic_distance": 1.98932, "euclidean_distance": 1.85599, "closest_goal_object_id": 4, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.50981, 3.51415, -8.83865 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "cf7c2bd80f934238aede140bb9bd1284", "path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A2TUUIV61CR0C7:3I7DHKZYGP3ZD97UT0LIYS4VQY9F5I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.28674, 3.51415, 7.14971 ], "start_rotation": [ 0, 0.87206, 0, -0.4894 ], "object_category": "fireplace", "info": { "geodesic_distance": 25.19571, "euclidean_distance": 4.75399, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.04985, 0.11415, 3.81925 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "416df61743e24e828609f0698df3f51b", "path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A26LOVXF4QZZCO:3R6P78PK7ME7CBEF5G9YJTAL7I3TGY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.58791, 3.51415, 11.24962 ], "start_rotation": [ 0, 0.60757, 0, -0.79427 ], "object_category": "table", "info": { "geodesic_distance": 6.64554, "euclidean_distance": 3.44875, "closest_goal_object_id": 235, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.45806, 3.51415, 10.18122 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A334BFWVFS4B41:32ZKVD547HQ6MD8AAFBT05FQX6V3B7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.45201, 0.11415, -9.5686 ], "start_rotation": [ 0, 0.66024, 0, 0.75105 ], "object_category": "towel", "info": { "geodesic_distance": 7.22089, "euclidean_distance": 6.90901, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.18672, 0.11415, -4.54918 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "4f07d9e99e084876b0765220888d2545", "path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A75XDPFNICR3T:34T446B1C2HTFQ1J5SP59RN1CBK0CH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.17889, 0.11415, 2.27389 ], "start_rotation": [ 0, 0.19944, 0, 0.97991 ], "object_category": "counter", "info": { "geodesic_distance": 9.28226, "euclidean_distance": 8.07163, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.34416, 0.11415, 7.92809 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0_edge_3_newN_2", "path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A75XDPFNICR3T:3TUI152ZZDQXGGWK6TU071VSKEX1QN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.69847, 0.11415, 2.42286 ], "start_rotation": [ 0, 0.66503, 0, -0.74682 ], "object_category": "picture", "info": { "geodesic_distance": 6.67709, "euclidean_distance": 6.04749, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.49027, 0.11415, -2.00269 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_3_newN_2", "path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "refined_path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ] }, { "episode_id": "A3L8LSM7V7KX3T:3U84XHCDIEGNM7UUG7WFWSEZ299Z4Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.42375, 3.51415, -8.24504 ], "start_rotation": [ 0, 0.17987, 0, -0.98369 ], "object_category": "table", "info": { "geodesic_distance": 14.42139, "euclidean_distance": 13.31526, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.51366, 3.51415, 3.17021 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1" ], "refined_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1" ] }, { "episode_id": "AOMFEAWQHU3D8:34YB12FSQ0R3ZGOVWJ8MXFFTD7TGM0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.40534, 0.11415, -8.75388 ], "start_rotation": [ 0, 0.88686, 0, -0.46203 ], "object_category": "stool", "info": { "geodesic_distance": 10.41578, "euclidean_distance": 8.58107, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.39093, 0.11415, -0.16267 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", [ "0_edge_93_newN_1" ] ] }, { "episode_id": "A334BFWVFS4B41:39PAAFCODO3QU84AUB8KJUDVUW7TV1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.77223, 3.51415, -2.01377 ], "start_rotation": [ 0, 0.69909, 0, -0.71503 ], "object_category": "cushion", "info": { "geodesic_distance": 5.05769, "euclidean_distance": 3.95024, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.27276, 3.51415, 1.57833 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_37_newN_0", "0_edge_58_newN_0", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A9K0CV70JWG1W:3JWH6J9I9UGDQH1KSYV89JDW1G7BN1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.84032, 3.51415, -0.57212 ], "start_rotation": [ 0, 0.6014, 0, -0.79895 ], "object_category": "toilet", "info": { "geodesic_distance": 10.87438, "euclidean_distance": 6.95444, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.19156, 3.51415, 6.30021 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "ACI0C2WU1NABK:3N1FSUEFL73KJ6PYOP7I50VWDHH4DT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.04401, 0.11415, 11.16024 ], "start_rotation": [ 0, 0.60191, 0, -0.79856 ], "object_category": "shower", "info": { "geodesic_distance": 25.5857, "euclidean_distance": 20.1812, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.29928, 3.51415, -8.59717 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "A2AAY4VT9L71SY:3570Y55XZRM3TXD9FMWXRA20LAWGY0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.79338, 0.11415, -3.35991 ], "start_rotation": [ 0, 0.4918, 0, -0.87071 ], "object_category": "shower", "info": { "geodesic_distance": 12.79308, "euclidean_distance": 6.41069, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.28391, 3.51415, -8.62089 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ] }, { "episode_id": "A3K1P4SPR8XS7R:3EQHHY4HQUV5R93P4KR0GD47Q5PG5H", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.08219, 3.51415, 4.37976 ], "start_rotation": [ 0, 0.74924, 0, -0.6623 ], "object_category": "shower", "info": { "geodesic_distance": 7.15482, "euclidean_distance": 1.91698, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.16436, 3.51415, 6.42276 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A9K0CV70JWG1W:3UJ1CZ6IZJS8HECGZKLH5RNAEIMS5K", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.66741, -0.08585, -0.54099 ], "start_rotation": [ 0, 0.64089, 0, -0.76764 ], "object_category": "picture", "info": { "geodesic_distance": 6.39679, "euclidean_distance": 5.56248, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.20668, 0.11415, -1.7853 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ] }, { "episode_id": "AXAO7UJYYEFCO:3EA3QWIZ4KYL82KAV49145N1LP3TIL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.67579, 3.51415, -7.40895 ], "start_rotation": [ 0, 0.9642, 0, -0.26516 ], "object_category": "chair", "info": { "geodesic_distance": 4.11581, "euclidean_distance": 3.7773, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.38442, 3.51415, -8.30654 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A2MCG5W6LHSRG9:37C0GNLMHH6YYTTC7D0X2YFA9886D1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.46423, -0.06916, 0.20326 ], "start_rotation": [ 0, 0.77712, 0, -0.62935 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.96387, "euclidean_distance": 8.51631, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.15895, 0.11415, -6.2358 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A1P3HHEXWNLJMP:37U1UTWH9XPF3HV5ITSFR1S5U4TR8I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.20218, 0.11415, 3.57678 ], "start_rotation": [ 0, 0.91891, 0, 0.39447 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.1126, "euclidean_distance": 3.27225, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.68231, 0.11415, 6.86325 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_3", "path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A2L26DMSVUEDP6:378XPAWRUEGGT6L1P4IK90X9Y3VIA9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.71302, 0.11415, -8.63407 ], "start_rotation": [ 0, 0.99935, 0, -0.03595 ], "object_category": "towel", "info": { "geodesic_distance": 6.48371, "euclidean_distance": 6.06771, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.10653, 0.11415, -4.43548 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A221PNPQRV4FC4:3C6FJU71TSWMYFE4ZRLEVP3RVQJYU7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.76966, 1.91415, -3.50042 ], "start_rotation": [ 0, 0.97214, 0, -0.2344 ], "object_category": "stool", "info": { "geodesic_distance": 6.43027, "euclidean_distance": 3.33435, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.91126, 3.51415, -5.87155 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A2J5DN5UMU0A3Z:3EICBYG646Z0HW25R0ZBRW2XBKXCJ7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.72267, 0.11415, 7.59154 ], "start_rotation": [ 0, 0.7977, 0, 0.60305 ], "object_category": "sink", "info": { "geodesic_distance": 7.151, "euclidean_distance": 6.80257, "closest_goal_object_id": 460, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.43949, 0.11415, 11.77294 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "AOMFEAWQHU3D8:3HFNH7HEMJHUKVMNOCF3EOZYM51QG1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.6194, 3.51415, 5.03221 ], "start_rotation": [ 0, 0.30385, 0, 0.95272 ], "object_category": "towel", "info": { "geodesic_distance": 10.22279, "euclidean_distance": 8.14473, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.06231, 3.51415, -2.26951 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A1P3HHEXWNLJMP:3DUZQ9U6SORPF8RV5B3U9PH9SANSVZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.86774, -0.06616, -0.82262 ], "start_rotation": [ 0, 0.05735, 0, 0.99835 ], "object_category": "bed", "info": { "geodesic_distance": 13.88665, "euclidean_distance": 10.89183, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.00184, 0.11415, -8.02729 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A2AAY4VT9L71SY:3EKVH9QME07AGSABKBOUCLYYUAX2DM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.37846, 0.11415, 2.67306 ], "start_rotation": [ 0, 0.72138, 0, 0.69254 ], "object_category": "picture", "info": { "geodesic_distance": 6.18768, "euclidean_distance": 5.83989, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.15216, 0.11415, -1.82362 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3EWIJTFFVQA8COLX1JV0ZFN4WK50EB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.32148, 0.11415, -5.4477 ], "start_rotation": [ 0, 0.08614, 0, -0.99628 ], "object_category": "stool", "info": { "geodesic_distance": 13.62191, "euclidean_distance": 6.55664, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.24058, 0.11415, -0.22661 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "6d51167d46ea4b47b9c7e9afb12ed459", "path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", [ "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b" ], "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:3PEIJLRY6VWAQEDZPVEDUZHFE3JWXN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.06991, 3.74783, -7.00273 ], "start_rotation": [ 0, 0.03063, 0, -0.99953 ], "object_category": "plant", "info": { "geodesic_distance": 16.09035, "euclidean_distance": 11.47044, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.92837, 3.51415, 4.34952 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "AOG0PUCLMU0HH:3FE7TXL1LKQ451EGPXUECK5XDRW2Q5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.54522, 0.11415, -3.26263 ], "start_rotation": [ 0, 0.86963, 0, 0.49371 ], "object_category": "toilet", "info": { "geodesic_distance": 12.2157, "euclidean_distance": 8.33707, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.69085, 0.11415, -4.4555 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ], "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2MCG5W6LHSRG9:3K772S5NPAEJNORTZR2L57MLI1OHEB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.98495, 0.11415, 11.21172 ], "start_rotation": [ 0, 0.3721, 0, -0.92819 ], "object_category": "picture", "info": { "geodesic_distance": 4.81078, "euclidean_distance": 4.48857, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.46491, 0.11415, 7.52861 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "4e796cd1c4594f9fb07bf8b48edf2dc2", "path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "refined_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315" ], "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ] }, { "episode_id": "A2TUUIV61CR0C7:39DD6S19JRE5E9RN5D8S5EQQFY5EZD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.90176, 3.51415, -3.38156 ], "start_rotation": [ 0, 0.55703, 0, 0.83049 ], "object_category": "counter", "info": { "geodesic_distance": 7.2556, "euclidean_distance": 6.88196, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.11474, 3.51415, -9.09461 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "fec0a4503f7d4cee8f491934eff0d498", "path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A2TUUIV61CR0C7:3EKVH9QME07AGSABKBOUCLYYT3B2DL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.30558, 0.11415, 1.32665 ], "start_rotation": [ 0, 0.9981, 0, 0.06157 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.23994, "euclidean_distance": 5.51807, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.67748, 0.11415, 6.87008 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_3", "path": [ "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "AIIOT9A7ARQZW:339ANSOTR75M5JUN1VV93E052DIKIE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.18575, 0.11415, 2.25919 ], "start_rotation": [ 0, 0.82549, 0, 0.56442 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 20.40099, "euclidean_distance": 5.2612, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.8499, 3.51415, 4.49677 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "0_edge_58_newN_3", "path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Go to the monitor.", "instr_encoding": [ 101, 2175, 2000, 1996, 8080, 1012, 102 ], "original_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ] ] }, { "episode_id": "AZPZDX26SYMFY:3ZPPDN2SLXZQ8I9A1FETSQOXZLW9EN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.72501, 0.11415, 9.60803 ], "start_rotation": [ 0, 0.10078, 0, 0.99491 ], "object_category": "shower", "info": { "geodesic_distance": 26.43934, "euclidean_distance": 19.97795, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.31106, 3.51415, -8.52356 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A16K7X677N4WN6:3I2PTA7R3VXZMHI6E30ICGRRUP7KQU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.45018, 0.11415, -7.95973 ], "start_rotation": [ 0, 0.52464, 0, 0.85132 ], "object_category": "seating", "info": { "geodesic_distance": 10.39145, "euclidean_distance": 9.76562, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.89079, 0.11415, 0.69374 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_1", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "a7fef2bee6444714acf0476fe84f9000", "0_edge_125_newN_1", "0_edge_125_newN_0", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "cce150ca22c249d2918ac9d0ee8689e6", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", "0_edge_73_newN_1", "42524ad2f3f44645a1dc3bd8486560cf", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "10_edge_156_newN_0", "0_edge_84_newN_0", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "10_edge_156_newN_0", "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "0_edge_84_newN_0", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1", "0_edge_125_newN_0", [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", [ "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0" ], "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6" ], "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "10_edge_156_newN_0", [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1" ], "0_edge_84_newN_0", [ "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8" ] ] }, { "episode_id": "A1RC2ETLOSZGP0:36TFCYNS46DSTOIAUWSDTW7SY4EXH9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.52849, 0.11415, 8.60361 ], "start_rotation": [ 0, 0.76774, 0, -0.64076 ], "object_category": "shower", "info": { "geodesic_distance": 24.77132, "euclidean_distance": 18.43735, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.15262, 3.51415, -8.62918 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A9K0CV70JWG1W:3Z7EFSHGNBH1CG7U84ECI5ACLB8CXC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.66932, 0.08821, -9.81469 ], "start_rotation": [ 0, 0.7861, 0, -0.6181 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.74353, "euclidean_distance": 1.40555, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.46947, 0.11415, -8.62586 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "ALCPF5NANBDSZ:3VD82FOHKSREI7T27DRGZSJJAGSCOF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.47953, -0.07731, -10.46441 ], "start_rotation": [ 0, 0.00656, 0, -0.99998 ], "object_category": "picture", "info": { "geodesic_distance": 3.66928, "euclidean_distance": 3.33486, "closest_goal_object_id": 832, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.48733, 0.11415, -9.23676 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459" ] }, { "episode_id": "A3RR85PK3AV9TU:3SBEHTYCWP6HPOJ45AW0CMFG1WVIYK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.50102, 1.8614, -2.14088 ], "start_rotation": [ 0, 0.53105, 0, -0.84734 ], "object_category": "stool", "info": { "geodesic_distance": 6.23345, "euclidean_distance": 3.36815, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.40845, 0.11415, -0.13766 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "AW1QY7Q83DYCJ:3PMBY0YE296BBKPW5O8Y22OUFJC9C8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.96576, 3.51415, -2.82345 ], "start_rotation": [ 0, 0.74445, 0, -0.66768 ], "object_category": "seating", "info": { "geodesic_distance": 12.43391, "euclidean_distance": 5.7693, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.92321, 0.11415, 0.66162 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "18ea875fed1b4dc99363420c08cb4300", "path": [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "6043285f84fe401d97d017c42b426fd6", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "6043285f84fe401d97d017c42b426fd6", [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", [ "163d61ac7edb43fb958c5d9e69ae11ad" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3Z7VU45IP0K6U8XBTPDDYU7WPHS1ZR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.34474, 0.11415, 5.55785 ], "start_rotation": [ 0, 0.56946, 0, -0.82202 ], "object_category": "counter", "info": { "geodesic_distance": 3.05037, "euclidean_distance": 2.61049, "closest_goal_object_id": 929, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.33792, 0.11415, 7.36969 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0d3a3b42009441e2a02200423049d804", "path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A3RR85PK3AV9TU:3IGI0VL649NX9BQTW30UF3DV9MYNO4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.83167, 3.51415, -0.18877 ], "start_rotation": [ 0, 0.42866, 0, -0.90347 ], "object_category": "towel", "info": { "geodesic_distance": 5.11416, "euclidean_distance": 4.37164, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.03762, 3.51415, -2.31768 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A2OFN0A5CPLH57:3WETL7AQWVB4XXR195KGXJFYN9H35C", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.32176, 3.51415, -2.53466 ], "start_rotation": [ 0, 0.77685, 0, -0.62968 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.78348, "euclidean_distance": 5.96766, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.84932, 3.51415, -4.87175 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A3RR85PK3AV9TU:34YB12FSQ0R3ZGOVWJ8MXFFTC35MG9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.28395, 3.51415, 6.11496 ], "start_rotation": [ 0, 0.96735, 0, -0.25345 ], "object_category": "stool", "info": { "geodesic_distance": 6.52425, "euclidean_distance": 5.91437, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.46195, 3.51415, 11.21777 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "a7fef2bee6444714acf0476fe84f9000", "path": [ "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A17OSPGV41FZ7P:3YDGXNSEO1X82BT77HW2J8HV3XL847", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.72122, 3.51415, 12.66459 ], "start_rotation": [ 0, 0.00716, 0, -0.99997 ], "object_category": "counter", "info": { "geodesic_distance": 23.15793, "euclidean_distance": 21.80175, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.14442, 3.51415, -9.04654 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "8f183f5d34d544e5a4d04bc8f28f10e8", "path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "AW1QY7Q83DYCJ:31T4R4OBOUJ7X113QRAEO6XOJNF7C8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.87148, 3.51415, 10.55582 ], "start_rotation": [ 0, 0.30523, 0, 0.95228 ], "object_category": "bed", "info": { "geodesic_distance": 9.97341, "euclidean_distance": 5.98423, "closest_goal_object_id": 284, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.86141, 3.51415, 9.84978 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "AKYXQY5IP7S0Z:3PZDLQMM0VO0B04XKFTJSFGG87TC2X", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.56204, 3.51415, 10.73931 ], "start_rotation": [ 0, 0.15983, 0, -0.98714 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.35196, "euclidean_distance": 5.2462, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.35239, 3.51415, 9.25708 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] ] }, { "episode_id": "AXAO7UJYYEFCO:3M68NM076JASZ3CHPEVH7NWEOCC6RQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.85064, 3.51415, 8.1628 ], "start_rotation": [ 0, 0.92545, 0, 0.37888 ], "object_category": "cushion", "info": { "geodesic_distance": 3.47009, "euclidean_distance": 3.2306, "closest_goal_object_id": 288, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.39388, 3.59337, 10.13849 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "463e439a4e974a00b23bfe7c684a2607", "path": [ "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "fec0a4503f7d4cee8f491934eff0d498", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c" ], "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "ACM3TPZKLE7WC:3JPSL1DZ5U2877WSMKVCE8TQK5DANB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.65975, 3.51415, 7.86754 ], "start_rotation": [ 0, 0.7532, 0, 0.65779 ], "object_category": "cushion", "info": { "geodesic_distance": 4.30812, "euclidean_distance": 2.38551, "closest_goal_object_id": 288, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.46618, 3.61194, 10.14161 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "0_edge_125_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1" ] }, { "episode_id": "A19C2SO0IMRZ1L:3IXQG4FA2V1S1FXQROC3RIICXYCB93", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.72234, 0.2243, 5.30263 ], "start_rotation": [ 0, 0.70943, 0, -0.70477 ], "object_category": "counter", "info": { "geodesic_distance": 6.76733, "euclidean_distance": 5.95736, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.41298, 0.11415, 7.88919 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0_edge_3_newN_0", "path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A2OFN0A5CPLH57:3TR2532VIRXB1FT4H9M85WANF1ZJ65", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.52911, 0.11415, 7.90192 ], "start_rotation": [ 0, 0.47239, 0, -0.88139 ], "object_category": "bed", "info": { "geodesic_distance": 20.32413, "euclidean_distance": 18.02657, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.91917, 0.11415, -7.9566 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3N1FSUEFL73KJ6PYOP7I50VWERD4DA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.70988, 0.0723, -0.08202 ], "start_rotation": [ 0, 0.82246, 0, 0.56883 ], "object_category": "towel", "info": { "geodesic_distance": 11.92237, "euclidean_distance": 8.7134, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.92961, 0.11415, 8.31229 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", [ "163d61ac7edb43fb958c5d9e69ae11ad" ], "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A2TUUIV61CR0C7:3EJJQNKU9T88WSWYLXML4EL4XP3RHL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.88179, 0.11415, 2.12731 ], "start_rotation": [ 0, 0.81772, 0, 0.57561 ], "object_category": "toilet", "info": { "geodesic_distance": 9.41411, "euclidean_distance": 8.8986, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.98249, 0.11415, 8.8427 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AZPZDX26SYMFY:3KB8R4ZV1GA7GPKY5UIDJZ4Z05CGBR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.86408, 0.11415, -5.20398 ], "start_rotation": [ 0, 0.30196, 0, 0.95332 ], "object_category": "shower", "info": { "geodesic_distance": 24.42001, "euclidean_distance": 4.86994, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.22043, 3.51415, -8.54513 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c" ], "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3NGI5ARFTV8CG4V56GFB7W5IFIAP1J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.11648, 3.51415, -2.39911 ], "start_rotation": [ 0, 0.79883, 0, -0.60155 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.06642, "euclidean_distance": 6.39224, "closest_goal_object_id": 4, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.52932, 3.51415, -8.8691 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "18ea875fed1b4dc99363420c08cb4300", "path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A2TUUIV61CR0C7:38BQUHLA9Y3RRT5TK2LU2OOV3PTOMV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.14328, 0.11415, -7.15685 ], "start_rotation": [ 0, 0.38023, 0, -0.92489 ], "object_category": "sink", "info": { "geodesic_distance": 3.20163, "euclidean_distance": 2.91495, "closest_goal_object_id": 818, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.81084, 0.11415, -4.81774 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_57_newN_1", "path": [ "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A3L8LSM7V7KX3T:308Q0PEVBAG2ONBWXY4KD5MPSN9I9U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.60303, 0.11415, 6.98305 ], "start_rotation": [ 0, 0.18344, 0, -0.98303 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.8432, "euclidean_distance": 7.63987, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.09114, 0.11415, -0.18945 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A3RR85PK3AV9TU:3X87C8JFV8EXA0VEJC9K32I1BJ8QS5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.34065, 3.51415, 9.266 ], "start_rotation": [ 0, 0.93448, 0, -0.35601 ], "object_category": "seating", "info": { "geodesic_distance": 28.88766, "euclidean_distance": 9.58557, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.83557, 0.11415, 0.62854 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "138030a069484c288b3b77f8a7cbd7be", "path": [ "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be" ], "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A3TN1QCPUCJZBF:3ZGVPD4G6VK73S9KV8XN40QRH1MTZX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.66339, 3.51415, 8.58332 ], "start_rotation": [ 0, 0.11659, 0, -0.99318 ], "object_category": "cushion", "info": { "geodesic_distance": 8.42501, "euclidean_distance": 7.88945, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.76316, 3.51415, 3.3274 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a" ] }, { "episode_id": "A75XDPFNICR3T:3H8DHMCCWBE5X8E19HUYCHKSBAIKDP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.56048, -0.08585, -12.21586 ], "start_rotation": [ 0, 0.61128, 0, 0.79141 ], "object_category": "cushion", "info": { "geodesic_distance": 6.92392, "euclidean_distance": 6.4865, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.25853, 0.11415, -9.21214 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A3RR85PK3AV9TU:3TU5ZICBRF4FRGG55E3FMBI0YK5Q8Y", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.10176, 0.11415, -5.16525 ], "start_rotation": [ 0, 0.08596, 0, 0.9963 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.15096, "euclidean_distance": 4.37436, "closest_goal_object_id": 829, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.10827, 0.11415, -8.46101 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c" ], "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3B3WTRP3DD5YD2XU8VJSQPF82MR297", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.16772, 3.51415, -8.5625 ], "start_rotation": [ 0, 0.99772, 0, -0.06751 ], "object_category": "toilet", "info": { "geodesic_distance": 4.63979, "euclidean_distance": 4.17394, "closest_goal_object_id": 50, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.16318, 3.51415, -5.64006 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "cf7c2bd80f934238aede140bb9bd1284", "path": [ "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "AY7WPVKHVNBLG:3Q5ZZ9ZEVQIQYUX7LMFCO0N92QK586", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.70434, 3.51415, 3.61119 ], "start_rotation": [ 0, 0.11836, 0, 0.99297 ], "object_category": "seating", "info": { "geodesic_distance": 18.7013, "euclidean_distance": 5.30731, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.98501, 0.11415, 0.5418 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "148a81e548314c67b6f5f226601a27de", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A21ZK49H9LSSRY:30H4UDGLT4L9CTHUZ2Y9ROTLDVKPMA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.98217, 0.11415, 9.87776 ], "start_rotation": [ 0, 0.02384, 0, 0.99972 ], "object_category": "toilet", "info": { "geodesic_distance": 8.01013, "euclidean_distance": 7.37408, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.68936, 0.11415, 11.52073 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A19C2SO0IMRZ1L:3QFUFYSY90IHHQ3UFV28T0YHPUZ4F6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.57062, 3.51415, 3.41669 ], "start_rotation": [ 0, 0.89511, 0, -0.44584 ], "object_category": "shower", "info": { "geodesic_distance": 9.79464, "euclidean_distance": 3.79041, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.16432, 3.51415, 6.36791 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A272X64FOZFYLB:3HPZF4IVNOWQCLX4D00E1JHLNKECY0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.4159, 0.11415, 4.83824 ], "start_rotation": [ 0, 0.30111, 0, -0.95359 ], "object_category": "picture", "info": { "geodesic_distance": 6.14537, "euclidean_distance": 5.56345, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.56336, 0.11415, 7.51252 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_3_newN_0", "path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "AY7WPVKHVNBLG:3ZPBJO59KR4EVIDT3WR1ZP40IQODHH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.11044, 1.91415, -3.91122 ], "start_rotation": [ 0, 0.32136, 0, 0.94696 ], "object_category": "plant", "info": { "geodesic_distance": 9.67347, "euclidean_distance": 3.8407, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.54105, 0.11415, -0.41631 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3FPRZHYEP0ALVR6GFW2T1H9X0XT3VT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.55412, 0.04521, 0.25404 ], "start_rotation": [ 0, 0.57187, 0, 0.82034 ], "object_category": "toilet", "info": { "geodesic_distance": 12.25727, "euclidean_distance": 8.72501, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.94287, 0.11415, 8.90924 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2TUUIV61CR0C7:3TDXMTX3CDXF649YZR18TVVN1DP6IC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.89628, 0.11023, -0.85534 ], "start_rotation": [ 0, 0.88981, 0, -0.45634 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.37016, "euclidean_distance": 6.78753, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.03903, 0.11415, -6.05378 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3K9FOBBF2JMP3QNWJBK2NM91DCYLNF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.25786, 3.51415, 9.43215 ], "start_rotation": [ 0, 0.96526, 0, -0.26129 ], "object_category": "seating", "info": { "geodesic_distance": 29.11229, "euclidean_distance": 13.27465, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.87129, 0.11415, 0.73259 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_69_newN_0", "path": [ "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A3L8LSM7V7KX3T:3QUO65DNQWRA41A2T4CGTY5PHHRUO1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.11339, -0.08585, 0.56835 ], "start_rotation": [ 0, 0.99974, 0, 0.02258 ], "object_category": "chair", "info": { "geodesic_distance": 4.67257, "euclidean_distance": 3.96841, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.889, 0.11415, -0.85413 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] }, { "episode_id": "A1P3HHEXWNLJMP:3PZDLQMM0VO0B04XKFTJSFGG83XC2T", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.90016, -0.08585, -0.99233 ], "start_rotation": [ 0, 0.98198, 0, 0.18898 ], "object_category": "cabinet", "info": { "geodesic_distance": 11.75099, "euclidean_distance": 8.85853, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.06042, 0.11415, -6.13256 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9" ] }, { "episode_id": "A2MCG5W6LHSRG9:339ANSOTR75M5JUN1VV93E053G2IK3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.78408, 0.11415, -7.5166 ], "start_rotation": [ 0, 0.53216, 0, 0.84665 ], "object_category": "plant", "info": { "geodesic_distance": 7.49172, "euclidean_distance": 6.47062, "closest_goal_object_id": 812, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.10828, 0.11415, -4.04892 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "76ba074e4b7a46feb3d829302db3bd2e", "path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8" ], "refined_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8" ] }, { "episode_id": "A9K0CV70JWG1W:3LBXNTKX0TYZEI0RWK4LGF94GY79XB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.09596, 0.11415, 2.10749 ], "start_rotation": [ 0, 0.08966, 0, 0.99597 ], "object_category": "counter", "info": { "geodesic_distance": 6.10458, "euclidean_distance": 5.7376, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.39055, 0.11415, 7.85377 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "ACI0C2WU1NABK:3NGMS9VZTNLRF60JZCYRK4V8EJIFFD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.72825, 0.11415, 3.07946 ], "start_rotation": [ 0, 0.38857, 0, 0.92142 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.39784, "euclidean_distance": 3.73476, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.72468, 0.11415, 6.87881 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_3", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "0_edge_133_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A1BZNPQ0H7ZSER:34BBWHLWHCED0JO4Q9ECRPU0PIUWIL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.94415, 0.11415, 0.53224 ], "start_rotation": [ 0, 0.75692, 0, -0.65351 ], "object_category": "counter", "info": { "geodesic_distance": 11.22134, "euclidean_distance": 9.85422, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.3055, 0.11415, 7.91389 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0_edge_37_newN_0", "path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A1R0689JPSQ3OF:3YMTUJH0DUJR0VLVAF7XA4DIH9IT4R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.74795, 0.11415, -7.22058 ], "start_rotation": [ 0, 0.9781, 0, -0.20814 ], "object_category": "cushion", "info": { "geodesic_distance": 2.13248, "euclidean_distance": 1.91945, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.59268, 0.11415, -8.74862 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "0_edge_57_newN_1", "path": [ "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "A3TN1QCPUCJZBF:3GDTJDAPVWEO61IDDLWY52YVPQTM87", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.59233, 3.51415, 7.98754 ], "start_rotation": [ 0, 0.17945, 0, 0.98377 ], "object_category": "fireplace", "info": { "geodesic_distance": 26.73937, "euclidean_distance": 5.31255, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.12163, 0.11415, 3.92561 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0_edge_125_newN_2", "path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A2MCG5W6LHSRG9:3B837J3LDQZXM1AEWRYK8SS6771RS2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.46066, 0.11415, 8.61818 ], "start_rotation": [ 0, 0.99973, 0, -0.02308 ], "object_category": "bed", "info": { "geodesic_distance": 18.09446, "euclidean_distance": 16.97212, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.93676, 0.11415, -8.03539 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "42524ad2f3f44645a1dc3bd8486560cf", "path": [ "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A1P3HHEXWNLJMP:33PPO7FECXIERDOD9E9MZ15FI2YID8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.70335, 0.11415, -3.94746 ], "start_rotation": [ 0, 0.97414, 0, 0.22593 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.44439, "euclidean_distance": 8.53364, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.78469, 0.11415, -1.17865 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A75XDPFNICR3T:3TPWUS5F8B4MNG24YZIQGMW5CC4WCB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.64801, 0.11415, 5.82589 ], "start_rotation": [ 0, 0.36042, 0, -0.93279 ], "object_category": "sink", "info": { "geodesic_distance": 4.86157, "euclidean_distance": 4.4591, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.14907, 0.11415, 8.73178 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A1BZNPQ0H7ZSER:31UV0MXWNSFJN09KU8R31PHN5I55IM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.69387, 3.51415, 10.81592 ], "start_rotation": [ 0, 0.0658, 0, -0.99783 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.97354, "euclidean_distance": 2.76951, "closest_goal_object_id": 204, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.75429, 3.51415, 8.10433 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3LO69W1SU5GJTY6AW777X204CYYLGP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.43272, 3.51415, -5.0689 ], "start_rotation": [ 0, 0.16795, 0, 0.9858 ], "object_category": "fireplace", "info": { "geodesic_distance": 16.85188, "euclidean_distance": 9.62768, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.15833, 0.11415, 3.93211 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "834865d0e74042d38b796ded2488d64c", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "148a81e548314c67b6f5f226601a27de", "6043285f84fe401d97d017c42b426fd6", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "6043285f84fe401d97d017c42b426fd6", [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A75XDPFNICR3T:3TY7ZAOG5HNBYOD7X563XA09HM70KC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.50713, 2.2245, -3.99419 ], "start_rotation": [ 0, 0.99974, 0, 0.02286 ], "object_category": "fireplace", "info": { "geodesic_distance": 11.82793, "euclidean_distance": 8.21244, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.12695, 0.11415, 3.81816 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a" ], "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ] }, { "episode_id": "A21ZK49H9LSSRY:3Z9WI9EOZ1RM9OJ3VDDO32ZQ2X9KHL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.90907, 0.11415, 11.61145 ], "start_rotation": [ 0, 0.46661, 0, 0.88447 ], "object_category": "seating", "info": { "geodesic_distance": 9.7456, "euclidean_distance": 8.72187, "closest_goal_object_id": 920, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.37418, 0.11415, 7.42755 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_84_newN_2", "path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A3L8LSM7V7KX3T:3PQ8K71NHZN1NO23DGQ7S29QLX4AAF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.85037, 3.51415, -2.07149 ], "start_rotation": [ 0, 0.37526, 0, -0.92692 ], "object_category": "fireplace", "info": { "geodesic_distance": 16.98798, "euclidean_distance": 8.11401, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.10914, 0.11415, 3.90441 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", [ "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ] ] }, { "episode_id": "A2MCG5W6LHSRG9:3NOKK93PR3B73E0R9QUFK4P8QLLEEH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.95384, 3.51415, 2.46702 ], "start_rotation": [ 0, 0.74451, 0, -0.66761 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.40714, "euclidean_distance": 7.95307, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.27783, 3.51415, 8.2064 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "A21ZK49H9LSSRY:3X66WABAJYL2DUGLQ1371G6NC9LG3E", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.3898, 0.11415, 4.09303 ], "start_rotation": [ 0, 0.21665, 0, -0.97625 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.79869, "euclidean_distance": 3.58657, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.58615, 0.11415, 6.85494 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "cc896d0984cc4661bff9087a0df6967c", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b" ], "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A21ZK49H9LSSRY:3G5W44VEU9L89SOSB7V6I2NPNYYKGQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.59967, 0.11415, -4.54067 ], "start_rotation": [ 0, 0.63901, 0, 0.76919 ], "object_category": "counter", "info": { "geodesic_distance": 3.16966, "euclidean_distance": 2.93976, "closest_goal_object_id": 881, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.38831, 0.11415, -7.38423 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A3K1P4SPR8XS7R:3D3VGR7TA2IT2KPZ6CXJ0KKUELN3RU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.33246, 3.51415, -6.73237 ], "start_rotation": [ 0, 0.97527, 0, 0.221 ], "object_category": "fireplace", "info": { "geodesic_distance": 19.23516, "euclidean_distance": 11.41088, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.15789, 0.11415, 3.87441 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A75XDPFNICR3T:3J2UYBXQQNF4Z9SIV1C2NRVRFNB60S", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.57313, 3.51415, 7.93044 ], "start_rotation": [ 0, 0.16784, 0, -0.98581 ], "object_category": "chair", "info": { "geodesic_distance": 3.65982, "euclidean_distance": 2.91567, "closest_goal_object_id": 130, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.74741, 3.51415, 5.2332 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ] }, { "episode_id": "A2CWA5VQZ6IWMQ:3VFJCI1K412UWW1N1R43JE93JXXRGA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.29592, 3.51415, -6.64722 ], "start_rotation": [ 0, 0.63462, 0, 0.77282 ], "object_category": "chair", "info": { "geodesic_distance": 4.80762, "euclidean_distance": 4.35698, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.44574, 3.51415, -8.2614 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A1198W1SPF1R4:3IXQG4FA2V1S1FXQROC3RIICXYA9BZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.93352, 0.11415, 11.32549 ], "start_rotation": [ 0, 0.95612, 0, 0.29299 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 13.17037, "euclidean_distance": 11.75125, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.08664, 0.11415, -0.2128 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "176424bc97d94b12a52aefbdfb8c00d9", "path": [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A1P3HHEXWNLJMP:3TAYZSBPLNBGIHTTH1JJ7KKYVDW2S5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.59433, 0.11415, -8.10978 ], "start_rotation": [ 0, 0.55639, 0, -0.83092 ], "object_category": "seating", "info": { "geodesic_distance": 11.51184, "euclidean_distance": 10.47581, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.00142, 0.11415, 0.66175 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A1P3HHEXWNLJMP:3RXPCZQMQRE63R263XPODNRQFZ6G16", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.2534, 3.51415, -4.09455 ], "start_rotation": [ 0, 0.09044, 0, -0.9959 ], "object_category": "table", "info": { "geodesic_distance": 18.18408, "euclidean_distance": 7.18396, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.58242, 3.51415, 3.04405 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "AZPZDX26SYMFY:31Q0U3WYDRINAYR5AULU7AEXGVS17R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.80199, 3.51415, 9.52588 ], "start_rotation": [ 0, 0.95622, 0, -0.29265 ], "object_category": "picture", "info": { "geodesic_distance": 2.49242, "euclidean_distance": 2.22701, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.55277, 3.51415, 7.67614 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "aff833f86ff847a7bcf24bea207c91ad" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3LRKMWOKB7KDJTF7CTDR3DH1HOBZ2D", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.98377, 3.51415, 11.84067 ], "start_rotation": [ 0, 0.88192, 0, -0.47141 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.34379, "euclidean_distance": 7.59435, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.34536, 3.51415, 8.25249 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0_edge_125_newN_0", "path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "A1ATL3G98SFW4V:30MVJZJNHOGYJYV2FGPKP61P52U9JT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.38817, -0.08585, 1.0047 ], "start_rotation": [ 0, 0.98277, 0, 0.18486 ], "object_category": "toilet", "info": { "geodesic_distance": 13.37664, "euclidean_distance": 7.85321, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.98491, 0.11415, 8.73496 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A1P3HHEXWNLJMP:3N1FSUEFL73KJ6PYOP7I50VWDMY4DK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.22877, 3.51415, 5.00898 ], "start_rotation": [ 0, 0.98034, 0, -0.19732 ], "object_category": "towel", "info": { "geodesic_distance": 10.26701, "euclidean_distance": 8.41472, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.03621, 3.51415, -2.39019 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "7e1850bf73f24a7f9ab824a82143e1b6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A28U7B76HLCS1U:3NPFYT4IZE7ETSNZAQAV8WVRJ7FXGU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.4964, 3.51415, 11.48033 ], "start_rotation": [ 0, 0.97094, 0, 0.23933 ], "object_category": "sofa", "info": { "geodesic_distance": 26.94212, "euclidean_distance": 12.2828, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.00656, 0.11415, 0.14785 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "AIOOOO5OXWXKM:3M68NM076JASZ3CHPEVH7NWEO97R60", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.38745, 0.11415, -4.39912 ], "start_rotation": [ 0, 0.64542, 0, 0.76382 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.57989, "euclidean_distance": 5.00135, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.03711, 0.11415, -6.16358 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AREQ43Q0T8ENT:3Y9N9SS8L0EZ1A6UOB2ZVV3Q0OAD3L", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.37148, 3.01945, -3.60763 ], "start_rotation": [ 0, 0.47565, 0, -0.87963 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.24754, "euclidean_distance": 1.45356, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.70846, 3.51415, -5.0429 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3DR23U6WE7H9SXIOZLJAJQP9TUZTEB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.23238, -0.08585, -12.05793 ], "start_rotation": [ 0, 0.8585, 0, -0.51281 ], "object_category": "cushion", "info": { "geodesic_distance": 5.91506, "euclidean_distance": 4.96383, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.39742, 0.11415, -9.27775 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "AOMFEAWQHU3D8:339ANSOTR75M5JUN1VV93E052BRKIJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.91237, 0.11415, -8.14667 ], "start_rotation": [ 0, 0.33685, 0, -0.94156 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.70176, "euclidean_distance": 6.47798, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.64128, 0.11415, -3.61705 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "76ba074e4b7a46feb3d829302db3bd2e", "path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2MCG5W6LHSRG9:3YOH7BII0BARRPEN02USI3QZBIXKV1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.17049, 3.51415, 7.69975 ], "start_rotation": [ 0, 0.95237, 0, 0.30493 ], "object_category": "towel", "info": { "geodesic_distance": 14.37674, "euclidean_distance": 10.19161, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.05977, 3.51415, -2.38738 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "aff833f86ff847a7bcf24bea207c91ad", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", [ "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "AIIOT9A7ARQZW:3M0BCWMB8XZ3DBAYKZMV52QNVVJWBS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.45122, 0.11415, 2.24549 ], "start_rotation": [ 0, 0.49243, 0, 0.87035 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 20.41854, "euclidean_distance": 4.11603, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.87451, 3.51415, 4.46788 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Locate the monitor.", "instr_encoding": [ 101, 12453, 1996, 8080, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "AZPZDX26SYMFY:3AQF3RZ55ALVWD78YJVNQYIVMVOF66", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.89413, 0.11415, -3.43505 ], "start_rotation": [ 0, 0.93744, 0, 0.34814 ], "object_category": "sofa", "info": { "geodesic_distance": 6.18825, "euclidean_distance": 5.59046, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.0439, 0.11415, 0.10255 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A3TN1QCPUCJZBF:3ZSY5X72NZEIO9ILPAHBONI5AF7RO8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.37567, 3.51415, 11.6307 ], "start_rotation": [ 0, 0.98964, 0, -0.1436 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.51864, "euclidean_distance": 10.61049, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.29524, 3.51415, 8.09415 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "A16K7X677N4WN6:3ZAZR5XV03LQHB799M2XFQQNTGBCZO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.32341, 3.57455, 10.12392 ], "start_rotation": [ 0, 0.99516, 0, -0.09823 ], "object_category": "picture", "info": { "geodesic_distance": 3.77476, "euclidean_distance": 2.19592, "closest_goal_object_id": 308, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.29961, 3.56537, 12.41379 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f" ] ] }, { "episode_id": "A3K1P4SPR8XS7R:3GA6AFUKOQRGDQBWA7LPMGIOSGEH39", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.38702, -0.08585, 1.47952 ], "start_rotation": [ 0, 0.85547, 0, 0.51785 ], "object_category": "fireplace", "info": { "geodesic_distance": 9.81635, "euclidean_distance": 8.6321, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.06292, 0.11415, 5.03187 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A2Q6L9LKSNU7EB:33NF62TLXL5I0UETJDG9FFF5GXQKJK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.13517, 0.11415, -6.51155 ], "start_rotation": [ 0, 0.9064, 0, 0.42241 ], "object_category": "sofa", "info": { "geodesic_distance": 12.94952, "euclidean_distance": 7.74854, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.2045, 0.11415, 0.19638 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "dbec0f4e228c44cda1f991905404541c", "path": [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A17C8CUROFU495:3J88R45B2I1K65GYD90I259JL2CXPH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.38531, -0.02863, -0.68883 ], "start_rotation": [ 0, 0.42188, 0, -0.90665 ], "object_category": "picture", "info": { "geodesic_distance": 5.78316, "euclidean_distance": 4.82855, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.13366, 0.11415, -1.77584 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:3FQ5JJ512NREJK5EYB818MWMPEMKN9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.8343, -0.08585, -11.47286 ], "start_rotation": [ 0, 0.96218, 0, 0.27241 ], "object_category": "cushion", "info": { "geodesic_distance": 5.54179, "euclidean_distance": 5.01593, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.34571, 0.11415, -9.20425 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A3RR85PK3AV9TU:3H8DHMCCWBE5X8E19HUYCHKSBA8KDF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.74191, 3.51415, 10.77742 ], "start_rotation": [ 0, 0.35027, 0, -0.93665 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.4227, "euclidean_distance": 5.42977, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.38229, 3.51415, 9.22042 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] ] }, { "episode_id": "A17OSPGV41FZ7P:3QL2OFSM98LW0MTQ6YR3K3JEJ1GCNI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.51693, 3.51415, -8.9598 ], "start_rotation": [ 0, 0.99929, 0, 0.03771 ], "object_category": "plant", "info": { "geodesic_distance": 14.93161, "euclidean_distance": 13.43359, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.98677, 3.51415, 4.32509 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A3RR85PK3AV9TU:3M68NM076JASZ3CHPEVH7NWEO956RD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.11245, 3.51415, 9.89543 ], "start_rotation": [ 0, 0.03897, 0, 0.99924 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.06426, "euclidean_distance": 2.575, "closest_goal_object_id": 316, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.20056, 3.51415, 8.26231 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ] }, { "episode_id": "A16K7X677N4WN6:32UTUBMZ7IZQYMATUPHZJ079OOCVBG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.53566, 3.51415, -5.24526 ], "start_rotation": [ 0, 0.14217, 0, -0.98984 ], "object_category": "picture", "info": { "geodesic_distance": 1.90103, "euclidean_distance": 1.69592, "closest_goal_object_id": 46, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.21877, 3.51415, -4.91677 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A5WWHKD82I8UE:3IXEICO794M5FIP9T30C72XWCYWT6F", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.27347, -0.08585, 1.37769 ], "start_rotation": [ 0, 0.72328, 0, 0.69055 ], "object_category": "counter", "info": { "geodesic_distance": 11.65388, "euclidean_distance": 8.21025, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.42686, 0.11415, 7.8784 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", [ "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "episode_id": "AOG0PUCLMU0HH:3O7L7BFSHGSJJJ2D59K65JN0IEYIE0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.84873, 0.11415, 0.08649 ], "start_rotation": [ 0, 0.81077, 0, 0.58537 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.51433, "euclidean_distance": 6.0275, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.81145, 0.11415, -1.0649 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "163d61ac7edb43fb958c5d9e69ae11ad", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "163d61ac7edb43fb958c5d9e69ae11ad", [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A3RR85PK3AV9TU:3ZPPDN2SLXZQ8I9A1FETSQOXZQF9EG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.9864, 3.51415, 9.6529 ], "start_rotation": [ 0, 0.95749, 0, 0.28847 ], "object_category": "seating", "info": { "geodesic_distance": 26.79863, "euclidean_distance": 11.94565, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.94051, 0.11415, 0.66472 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A1P3HHEXWNLJMP:3KJYX6QCMBEWG585IHUGHOQMVQVVJ4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.12594, 3.51415, 7.24195 ], "start_rotation": [ 0, 0.74898, 0, 0.6626 ], "object_category": "seating", "info": { "geodesic_distance": 24.64726, "euclidean_distance": 9.68081, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.89116, 0.11415, 0.57082 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "7cdc2565c773401289b95360da22e017", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ], "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A33VGSEJ44ORMF:38SKSKU7R30XPPC5MV7AIEDKSGQLIS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.51427, 3.51415, 7.72151 ], "start_rotation": [ 0, 0.77313, 0, 0.63425 ], "object_category": "stool", "info": { "geodesic_distance": 8.2738, "euclidean_distance": 7.02329, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.39514, 3.51415, 11.30112 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "0_edge_125_newN_2", "path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A334BFWVFS4B41:3O6CYIULEF4I9AJ4KQ3QASIBKHOUW7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.74851, 0.11415, -0.4696 ], "start_rotation": [ 0, 0.74698, 0, 0.66485 ], "object_category": "shower", "info": { "geodesic_distance": 14.40495, "euclidean_distance": 9.15463, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.22365, 3.51415, -8.53898 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A1BZNPQ0H7ZSER:37TRT2X24SUH7RAZD03GGCWFTZ7BJ9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.79234, 0.08664, 0.01104 ], "start_rotation": [ 0, 0.99947, 0, 0.03249 ], "object_category": "chair", "info": { "geodesic_distance": 2.03954, "euclidean_distance": 1.3776, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.75867, 0.11415, -0.98632 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3" ] }, { "episode_id": "A9K0CV70JWG1W:3QAPZX2QN6GGH89H8Z0ZXEEFZDA20Y", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.86045, 0.11415, 0.18408 ], "start_rotation": [ 0, 0.80651, 0, -0.59122 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.20296, "euclidean_distance": 7.33365, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.67796, 0.11415, 6.88543 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "c3c0a1a738a749a7a986d64c872b7671", "path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A3TN1QCPUCJZBF:3IFS6Q0HJKMKT27V644BU0RFK9FSIS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.12884, 0.11415, -9.4578 ], "start_rotation": [ 0, 0.048, 0, -0.99885 ], "object_category": "chair", "info": { "geodesic_distance": 3.5431, "euclidean_distance": 2.88388, "closest_goal_object_id": 827, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.13615, 0.11415, -7.37209 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "f4d601b86e624ad2a8d77280f36c7872", "path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_25_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0" ], "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "AZPZDX26SYMFY:36NEMU28XHGZW2EVBOC4JI1H6Q9MWK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.62489, 0.11415, -4.81587 ], "start_rotation": [ 0, 0.32404, 0, -0.94604 ], "object_category": "sofa", "info": { "geodesic_distance": 15.10138, "euclidean_distance": 5.17375, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.14972, 0.11415, 0.26434 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0" ], "refined_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", [ "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0" ] }, { "episode_id": "A3RR85PK3AV9TU:3WOKGM4L73JUOFYMVXYW4RHI0N0O0U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.19619, 0.11415, -9.47906 ], "start_rotation": [ 0, 0.72764, 0, 0.68596 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.02772, "euclidean_distance": 7.29329, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.66166, 0.11415, -3.73776 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "4f07d9e99e084876b0765220888d2545", "path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AIIOT9A7ARQZW:3FTOP5WARHRGN47PFK6RWV0W20A0JM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.8337, 0.11415, 11.47659 ], "start_rotation": [ 0, 0.38007, 0, -0.92496 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 29.78168, "euclidean_distance": 7.80632, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.82619, 3.51415, 4.46515 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the monitor.", "instr_encoding": [ 101, 2424, 1996, 8080, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A3RR85PK3AV9TU:3K5TEWLKGXE0LUOZ0Z9G5NBMI94VIM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.4706, 1.91415, -3.47492 ], "start_rotation": [ 0, 0.60027, 0, 0.7998 ], "object_category": "table", "info": { "geodesic_distance": 5.02079, "euclidean_distance": 4.28127, "closest_goal_object_id": 678, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.22835, 0.11415, -1.3009 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] }, { "episode_id": "AIIOT9A7ARQZW:35GMH2SV3GKTF5DG34XBPGJMUPNEOL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.06263, 3.51415, 9.28788 ], "start_rotation": [ 0, 0.89899, 0, -0.43796 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 8.03536, "euclidean_distance": 5.52837, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.8716, 3.51415, 4.45933 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "c3b8b8e1f0994859869b42fb760fce9f", "path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c" ], "instruction": "Find the monitor.", "instr_encoding": [ 101, 2424, 1996, 8080, 1012, 102 ], "original_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f" ], "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", [ "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", [ "f6af6b4247ea4353b90f8bce6e05f58a" ] ] }, { "episode_id": "A1Y0Y6U906ABT5:3U5NZHP4LT5NKFGJ85IWZJLPXBJPH4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.1255, 3.51415, -8.21869 ], "start_rotation": [ 0, 0.80858, 0, -0.58839 ], "object_category": "table", "info": { "geodesic_distance": 14.24819, "euclidean_distance": 13.13843, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.49452, 3.51415, 3.17799 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "463e439a4e974a00b23bfe7c684a2607", "6a3fba49106e4a9fb40cd0bf47dd4d46", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300" ], "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] }, { "episode_id": "A3GWRDHAURRNK6:3RRCEFRB7OFR49REATGCAA7WB284B2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.34207, 0.11415, 10.62524 ], "start_rotation": [ 0, 0.42279, 0, 0.90623 ], "object_category": "towel", "info": { "geodesic_distance": 6.70988, "euclidean_distance": 4.83087, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.94046, 0.11415, 8.32518 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A302KOFOYLD89A:3FIJLY1B6W736JPDDFUWWY9CHZCFP8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.50426, -0.08585, 1.06246 ], "start_rotation": [ 0, 0.70238, 0, -0.71181 ], "object_category": "chair", "info": { "geodesic_distance": 5.34756, "euclidean_distance": 4.72523, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.86986, 0.11415, -0.83744 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] }, { "episode_id": "A3K1P4SPR8XS7R:3LOZAJ85YFGOEYFSBBP66S1Q9O52XB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.33054, 1.53879, -2.7355 ], "start_rotation": [ 0, 0.97897, 0, -0.20401 ], "object_category": "sofa", "info": { "geodesic_distance": 5.19408, "euclidean_distance": 3.41908, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.16272, 0.11415, 0.20803 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1" ] }, { "episode_id": "A21ZK49H9LSSRY:36ZN444YTT15VAF2ZNN2AVHENJJIOQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.36115, 3.71415, -6.914 ], "start_rotation": [ 0, 0.52324, 0, 0.85218 ], "object_category": "picture", "info": { "geodesic_distance": 2.2932, "euclidean_distance": 2.06283, "closest_goal_object_id": 82, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.59267, 3.51415, -8.95402 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "fed8aaa68c9b43a3b83770b4bd2324ed", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "refined_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1" ] ] }, { "episode_id": "A17C8CUROFU495:36DSNE9QZ711QLZ8H582MWWE01MOJS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.01069, 0.11415, 10.2422 ], "start_rotation": [ 0, 0.90699, 0, 0.42115 ], "object_category": "plant", "info": { "geodesic_distance": 3.62497, "euclidean_distance": 3.44979, "closest_goal_object_id": 925, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.38767, 0.11415, 7.38109 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3RR85PK3AV9TU:3MTMREQS4XLYU156ELMZAR6HDGEWAJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.37236, 3.51415, -5.39029 ], "start_rotation": [ 0, 0.5758, 0, -0.81759 ], "object_category": "seating", "info": { "geodesic_distance": 14.5015, "euclidean_distance": 8.85722, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.9966, 0.11415, 0.73332 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", [ "163d61ac7edb43fb958c5d9e69ae11ad" ] ] }, { "episode_id": "A3L8LSM7V7KX3T:39KFRKBFIPYRLAU73595WJB2CVYYOE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.82643, 0.11415, 3.54289 ], "start_rotation": [ 0, 0.31828, 0, 0.948 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.09058, "euclidean_distance": 3.78294, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.68815, 0.11415, 6.88703 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A2MCG5W6LHSRG9:3X65QVEQI2Q6CMQ5ULBO7BFPE3UCLO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.98545, 0.11415, 0.58057 ], "start_rotation": [ 0, 0.91759, 0, -0.39753 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.28657, "euclidean_distance": 6.35957, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.73039, 0.11415, 6.81422 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_2", "path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", [ "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A34CQE6RGU49L7:3XM0HYN6NM2B05PHI4AQEGOC5WYPEX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.4308, 3.51415, -2.55094 ], "start_rotation": [ 0, 0.78819, 0, 0.61543 ], "object_category": "sofa", "info": { "geodesic_distance": 12.28318, "euclidean_distance": 5.14157, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.15578, 0.11415, 0.20651 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:3WLEIWSYHQKRS8FD677K36DWM1QH28", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.01983, 0.11415, 1.97422 ], "start_rotation": [ 0, 0.46429, 0, 0.88569 ], "object_category": "sink", "info": { "geodesic_distance": 8.93448, "euclidean_distance": 8.25488, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.08347, 0.11415, 8.64094 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_58_newN_3", "path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "AOMFEAWQHU3D8:3X4MXAO0BIRQTIRNGW8L5HVRCF8RWH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.87157, 0.11415, 9.7339 ], "start_rotation": [ 0, 0.10821, 0, -0.99413 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.20897, "euclidean_distance": 10.83633, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.14888, 0.11415, -0.16248 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "AZPZDX26SYMFY:39GAF6DQWT3PLOS1SSOADOU02DJV1X", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.79865, 0.11415, 7.81347 ], "start_rotation": [ 0, 0.98001, 0, -0.19893 ], "object_category": "cushion", "info": { "geodesic_distance": 6.759, "euclidean_distance": 6.32913, "closest_goal_object_id": 628, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.06789, 0.11415, 4.62393 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ] }, { "episode_id": "AD1ILDUXZHASF:32Q90QCQ1UOAPES15C5IIZ2DBPNKES", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.84062, 0.11415, 7.79522 ], "start_rotation": [ 0, 0.03213, 0, -0.99948 ], "object_category": "shower", "info": { "geodesic_distance": 23.78596, "euclidean_distance": 17.31124, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.29793, 3.51415, -8.52156 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A34CQE6RGU49L7:30ZX6P7VFAYNJEA3U7A5FJTBZUYJ2L", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.94467, 3.51415, 1.01669 ], "start_rotation": [ 0, 0.27245, 0, 0.96217 ], "object_category": "toilet", "info": { "geodesic_distance": 9.29025, "euclidean_distance": 5.39289, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.1741, 3.51415, 6.24918 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3GA6AFUKOQRGDQBWA7LPMGIOSJ0H31", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.93843, 0.11415, 10.01971 ], "start_rotation": [ 0, 0.27214, 0, -0.96226 ], "object_category": "sofa", "info": { "geodesic_distance": 1.91693, "euclidean_distance": 1.7209, "closest_goal_object_id": 500, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.32522, 0.11415, 11.69754 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "10_edge_156_newN_0", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "10_edge_156_newN_0", "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "10_edge_156_newN_0", [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ] }, { "episode_id": "ARQR5NIFA1AJ:3X4MXAO0BIRQTIRNGW8L5HVRDI7RWN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.91653, 3.51415, -2.99769 ], "start_rotation": [ 0, 0.88574, 0, 0.46418 ], "object_category": "fireplace", "info": { "geodesic_distance": 21.25167, "euclidean_distance": 8.21091, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.11663, 0.11415, 3.8791 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "fec0a4503f7d4cee8f491934eff0d498", "path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "7e1850bf73f24a7f9ab824a82143e1b6", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ], "refined_path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ] }, { "episode_id": "AW1QY7Q83DYCJ:3OVHNO1VE840M3DN9IX8ZW85FJMDZV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.48635, 3.53024, -9.36306 ], "start_rotation": [ 0, 0.07287, 0, -0.99734 ], "object_category": "table", "info": { "geodesic_distance": 14.8406, "euclidean_distance": 12.45037, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.57952, 3.51415, 3.00398 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "f6cbc0517fc14f129f5456e59dc66c76" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76" ] }, { "episode_id": "A17OSPGV41FZ7P:3O6CYIULEF4I9AJ4KQ3QASIBKJZUWM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.87176, 1.79941, -2.42675 ], "start_rotation": [ 0, 0.94437, 0, 0.3289 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.81341, "euclidean_distance": 4.54204, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.93721, 0.11415, -1.194 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A5WWHKD82I8UE:3YT88D1N0A17FGC4GSOMZ8YGJUBK32", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.05908, 0.11415, 8.82614 ], "start_rotation": [ 0, 0.50301, 0, 0.86428 ], "object_category": "picture", "info": { "geodesic_distance": 7.67963, "euclidean_distance": 7.66867, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.58791, 0.11415, 7.60078 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2" ], "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", [ "f7ef3082a05c40659421f0a21731ae1b" ], "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "A3B1P3B6X3AM2B:3483FV8BEGMBVJVWAOGG6FO6DQZ26N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.28923, 0.11415, 11.88901 ], "start_rotation": [ 0, 0.92439, 0, 0.38146 ], "object_category": "stool", "info": { "geodesic_distance": 3.84404, "euclidean_distance": 3.25738, "closest_goal_object_id": 552, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.9402, 0.11415, 8.58857 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "0_edge_84_newN_2", "path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2" ], "refined_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", [ "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2" ] ] }, { "episode_id": "A21ZK49H9LSSRY:3F6KKYWMND465EZ46UME491W55TDNT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.01693, -0.02832, -9.50728 ], "start_rotation": [ 0, 0.90031, 0, 0.43525 ], "object_category": "stool", "info": { "geodesic_distance": 11.25474, "euclidean_distance": 9.84624, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.266, 0.11415, -0.1789 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] ] }, { "episode_id": "A16K7X677N4WN6:32VNZTT0A97EKG836Q22APC0TPJ4RP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.42033, 0.11415, -9.22337 ], "start_rotation": [ 0, 0.52743, 0, -0.8496 ], "object_category": "stool", "info": { "geodesic_distance": 10.05731, "euclidean_distance": 8.98437, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.16231, 0.11415, -0.17839 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "0_edge_57_newN_1", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3L0KT67Y8GJ6J2M0AMQEGOL3ASOYSF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.14092, 0.11415, 11.90055 ], "start_rotation": [ 0, 0.46129, 0, 0.88725 ], "object_category": "towel", "info": { "geodesic_distance": 10.52452, "euclidean_distance": 8.81678, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.90052, 0.11415, 8.44117 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "0_edge_84_newN_2", "path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A3K1P4SPR8XS7R:3G2UL9A02FHIHKS2G0XB265ENZT670", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.8982, 0.11415, -4.56341 ], "start_rotation": [ 0, 0.38431, 0, -0.9232 ], "object_category": "towel", "info": { "geodesic_distance": 10.56244, "euclidean_distance": 7.3023, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.02945, 0.11415, -4.50889 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "7cdc2565c773401289b95360da22e017", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ], "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A26LOVXF4QZZCO:34S6N1K2ZXMXTU1LGDPPI2C5S1DHLT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.14133, 3.51415, 7.33373 ], "start_rotation": [ 0, 0.51334, 0, 0.85818 ], "object_category": "sofa", "info": { "geodesic_distance": 23.88431, "euclidean_distance": 8.47878, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.01299, 0.11415, 0.15233 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "AJQGWGESKQT4Y:3Z7EFSHGNBH1CG7U84ECI5ACML2CXR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.2805, 3.51415, 9.69383 ], "start_rotation": [ 0, 0.66187, 0, -0.74962 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.61271, "euclidean_distance": 12.02167, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.29283, 3.51415, 8.04695 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "AZPZDX26SYMFY:37TRT2X24SUH7RAZD03GGCWFT2JBJR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 15.10604, 0.11415, 7.65534 ], "start_rotation": [ 0, 0.68772, 0, 0.72598 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 14.55528, "euclidean_distance": 11.89607, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.11909, 0.11415, -0.08068 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "1eae38cbbaf744f99de90c99d8c013f1", "path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A2Q6L9LKSNU7EB:33NF62TLXL5I0UETJDG9FFF5GXIKJC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.25935, 0.11415, -8.14644 ], "start_rotation": [ 0, 0.78076, 0, 0.62483 ], "object_category": "shower", "info": { "geodesic_distance": 17.41423, "euclidean_distance": 3.54964, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.2127, 3.51415, -8.59 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "76ba074e4b7a46feb3d829302db3bd2e", "path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A2Q6L9LKSNU7EB:3TVRFO09GMIUFK10LH7BLO0ZFP2XL3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.80434, 3.51415, -3.0655 ], "start_rotation": [ 0, 0.51448, 0, -0.8575 ], "object_category": "cushion", "info": { "geodesic_distance": 7.26515, "euclidean_distance": 5.82001, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.18666, 3.51415, 1.57978 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A22VLXXVIEJSD1:3BWI6RSP7ICMUZLHMIG9EUXR4YT7E0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.17951, 0.11415, 0.00246 ], "start_rotation": [ 0, 0.3776, 0, 0.92597 ], "object_category": "bed", "info": { "geodesic_distance": 9.3958, "euclidean_distance": 8.47933, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.04508, 0.11415, -7.96104 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] }, { "episode_id": "AOG0PUCLMU0HH:3M0NZ3JDP315IQYUUCFP1KKD25A5Z7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.59129, 0.11415, 2.09323 ], "start_rotation": [ 0, 0.90678, 0, 0.4216 ], "object_category": "bed", "info": { "geodesic_distance": 11.44683, "euclidean_distance": 10.36049, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.96406, 0.11415, -8.0301 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "AOMFEAWQHU3D8:3S4AW7T80DL3HIDQ1656OD31MUJ4LH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.53251, 3.51415, -6.04873 ], "start_rotation": [ 0, 0.94594, 0, -0.32435 ], "object_category": "plant", "info": { "geodesic_distance": 11.78717, "euclidean_distance": 11.0792, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.05602, 3.51415, 4.44625 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A16K7X677N4WN6:3HWRJOOET758DX59ALEK9LTNRDESEI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.62, 0.11415, 8.25916 ], "start_rotation": [ 0, 0.99906, 0, 0.04325 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.28281, "euclidean_distance": 9.56139, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.17259, 0.11415, -0.23713 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_93_newN_1", "path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A302KOFOYLD89A:3OSWBBLG1G0BH8D8809N2BSU6C8XDN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.82527, 0.11415, 4.58995 ], "start_rotation": [ 0, 0.77464, 0, 0.6324 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.06948, "euclidean_distance": 2.22648, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.63742, 0.11415, 6.91563 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "ACI0C2WU1NABK:3HPZF4IVNOWQCLX4D00E1JHLORUYCH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.6676, 3.71415, -7.02925 ], "start_rotation": [ 0, 0.32518, 0, 0.94565 ], "object_category": "stool", "info": { "geodesic_distance": 3.79177, "euclidean_distance": 2.39399, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.05189, 3.51415, -7.54716 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", [ "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] ] }, { "episode_id": "A1F6MWP9A0XLJQ:3ERMJ6L4D0VK6NDU3G4SR220E4GM79", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.54165, 3.51415, 10.29824 ], "start_rotation": [ 0, 0.86615, 0, 0.49978 ], "object_category": "bed", "info": { "geodesic_distance": 7.40674, "euclidean_distance": 3.6409, "closest_goal_object_id": 284, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.76687, 3.51415, 9.80306 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ] }, { "episode_id": "A5WWHKD82I8UE:3KAKFY4PGW5G9LMGGP3AMSJ3RQMI3P", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.05592, 3.51415, 8.5967 ], "start_rotation": [ 0, 0.85369, 0, -0.52078 ], "object_category": "toilet", "info": { "geodesic_distance": 7.1073, "euclidean_distance": 6.37229, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.17957, 3.51415, 6.35488 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A1P3HHEXWNLJMP:31LVTDXBL9DAIOFOCI1JW6EBE9IRL4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.29195, 3.51415, 7.13874 ], "start_rotation": [ 0, 0.93549, 0, -0.35336 ], "object_category": "seating", "info": { "geodesic_distance": 25.78969, "euclidean_distance": 10.4064, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.83698, 0.11415, 0.6436 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_69_newN_1", "path": [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A16K7X677N4WN6:3QJOXOW4XLU5F2S4QOIYXCUHZK0EMO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.61942, 0.11415, 7.72339 ], "start_rotation": [ 0, 0.16793, 0, -0.9858 ], "object_category": "shower", "info": { "geodesic_distance": 25.24044, "euclidean_distance": 18.31797, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.28585, 3.51415, -8.55108 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A302KOFOYLD89A:3K2755HG5U6UHMMN8631W4SN3G8FDT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.31798, 0.11415, 7.28977 ], "start_rotation": [ 0, 0.38935, 0, -0.92109 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.35364, "euclidean_distance": 13.40237, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.83105, 0.11415, -1.1056 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8" ], "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AKYXQY5IP7S0Z:3KGTPGBS6ZOWXULX66EJML2MG9B2UD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.88062, 3.34908, -3.77091 ], "start_rotation": [ 0, 0.96483, 0, 0.26289 ], "object_category": "bed", "info": { "geodesic_distance": 4.00653, "euclidean_distance": 3.30006, "closest_goal_object_id": 79, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.36349, 3.51415, -6.68813 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A75XDPFNICR3T:35GCEFQ6I7R24BBQGTRWMNMTO86Z3W", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.52566, -0.06843, 0.28925 ], "start_rotation": [ 0, 0.1724, 0, 0.98503 ], "object_category": "chair", "info": { "geodesic_distance": 3.24924, "euclidean_distance": 2.57504, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.85026, 0.11415, -0.81862 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3" ] }, { "episode_id": "A75XDPFNICR3T:3MH9DQ757YFMCOT45LZ8OPWNQVXGUX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.70136, 2.78854, -3.77537 ], "start_rotation": [ 0, 0.97131, 0, 0.23784 ], "object_category": "counter", "info": { "geodesic_distance": 6.72299, "euclidean_distance": 5.38754, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.09774, 3.51415, -8.91066 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A3TN1QCPUCJZBF:3PW9OPU9PSNGOXUZ4I4ZBJXP5DV21X", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.6317, 3.51415, 4.25789 ], "start_rotation": [ 0, 0.49486, 0, -0.86897 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.28998, "euclidean_distance": 5.10351, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.48785, 3.51415, 9.40947 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A16K7X677N4WN6:3VFJCI1K412UWW1N1R43JE93IN4RGW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.37291, 0.11415, -1.15816 ], "start_rotation": [ 0, 0.6826, 0, -0.73079 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.70221, "euclidean_distance": 6.06798, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.98459, 0.11415, -6.15548 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "c3c0a1a738a749a7a986d64c872b7671", "path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7cdc2565c773401289b95360da22e017" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A21ZK49H9LSSRY:3A1COHJ8NLY2ENH2MOGLDXQZ83IH8F", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.64461, 3.51415, -5.36982 ], "start_rotation": [ 0, 0.98651, 0, -0.1637 ], "object_category": "table", "info": { "geodesic_distance": 17.87892, "euclidean_distance": 8.64394, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.51938, 3.51415, 3.15088 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A19C2SO0IMRZ1L:3KRVW3HTZPO6PLXMRJ23MTYW1KJMSQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.13847, 0.11415, 10.04665 ], "start_rotation": [ 0, 0.05811, 0, 0.99831 ], "object_category": "cushion", "info": { "geodesic_distance": 6.35433, "euclidean_distance": 5.34477, "closest_goal_object_id": 555, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.34271, 0.11415, 11.29276 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "AIIOT9A7ARQZW:3M0NZ3JDP315IQYUUCFP1KKD26WZ5P", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.38839, -0.08585, -11.58904 ], "start_rotation": [ 0, 0.80581, 0, 0.59218 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 24.85837, "euclidean_distance": 16.57957, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.90311, 3.51415, 4.52829 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the monitor.", "instr_encoding": [ 101, 2424, 1996, 8080, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A75XDPFNICR3T:3OLF68YTNB4WJFJBOWCZ63KHIBHAFO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.559, 0.11415, 9.33385 ], "start_rotation": [ 0, 0.08049, 0, -0.99676 ], "object_category": "bed", "info": { "geodesic_distance": 20.43169, "euclidean_distance": 17.35674, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.94732, 0.11415, -8.02773 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_93_newN_1", "path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A75XDPFNICR3T:37FMASSAYEULCGQTVIIG4BHFGOUBIH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.20885, 3.51415, 8.94685 ], "start_rotation": [ 0, 0.66778, 0, 0.74436 ], "object_category": "sink", "info": { "geodesic_distance": 6.41557, "euclidean_distance": 6.00854, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.38608, 3.51415, 7.50079 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A3GWRDHAURRNK6:37ZHEEHM6YPJK15KXYZDV3TUECM73Z", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.52641, -0.08585, -12.1157 ], "start_rotation": [ 0, 0.94188, 0, 0.33596 ], "object_category": "counter", "info": { "geodesic_distance": 4.7793, "euclidean_distance": 4.52641, "closest_goal_object_id": 881, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.48275, 0.11415, -8.53748 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "ACI0C2WU1NABK:3K4J6M3CXGW2XFF6ZGIHOOKTII5AGU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.44515, -0.07442, -10.4572 ], "start_rotation": [ 0, 0.38618, 0, 0.92242 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.37594, "euclidean_distance": 2.08938, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.36085, 0.11415, -8.54957 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", [ "4f07d9e99e084876b0765220888d2545" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A2TUUIV61CR0C7:379J5II41QJL9KAJQCHJXZFS0NYLEY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.75703, 0.11415, 8.99633 ], "start_rotation": [ 0, 0.54331, 0, 0.83953 ], "object_category": "bed", "info": { "geodesic_distance": 22.33057, "euclidean_distance": 17.34861, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.00915, 0.11415, -8.00962 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A1BZNPQ0H7ZSER:35LDD5557C7812KEMAT1V77MKQEMKH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.9539, 0.11415, 2.2712 ], "start_rotation": [ 0, 0.9997, 0, 0.02439 ], "object_category": "sink", "info": { "geodesic_distance": 8.10457, "euclidean_distance": 6.92027, "closest_goal_object_id": 378, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.23071, 0.11415, 8.08825 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3VNL7UK1XHM1YBIKUW3G18A962UFTA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.07609, -0.08585, -1.09786 ], "start_rotation": [ 0, 0.96444, 0, -0.2643 ], "object_category": "chair", "info": { "geodesic_distance": 4.97544, "euclidean_distance": 3.70297, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.89261, 0.11415, -0.94924 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A28HB7240OFGEW:3O6CYIULEF4I9AJ4KQ3QASIBKIOWUB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.77364, 3.51415, 7.26584 ], "start_rotation": [ 0, 0.95072, 0, -0.31004 ], "object_category": "toilet", "info": { "geodesic_distance": 3.73858, "euclidean_distance": 2.83267, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.07308, 3.51415, 6.30365 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "416df61743e24e828609f0698df3f51b", "path": [ "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "AZPZDX26SYMFY:3F6HPJW4JF39PYA216TK49NJ0MWW29", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.83512, 3.69677, -7.1527 ], "start_rotation": [ 0, 0.58426, 0, 0.81156 ], "object_category": "table", "info": { "geodesic_distance": 14.94835, "euclidean_distance": 10.24942, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.49274, 3.51415, 3.16126 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A33VGSEJ44ORMF:379J5II41QJL9KAJQCHJXZFS0ODEL8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.1954, 0.11415, 9.79025 ], "start_rotation": [ 0, 0.84619, 0, 0.53289 ], "object_category": "stool", "info": { "geodesic_distance": 10.55512, "euclidean_distance": 8.84606, "closest_goal_object_id": 552, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.78974, 0.11415, 8.45482 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] ] }, { "episode_id": "AXAO7UJYYEFCO:3GNCZX450KQ8AS852Z84IXYLKGBPAB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.97965, 0.11415, 11.92507 ], "start_rotation": [ 0, 0.4669, 0, -0.88431 ], "object_category": "fireplace", "info": { "geodesic_distance": 10.39381, "euclidean_distance": 9.4589, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.19104, 0.11415, 7.58282 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "episode_id": "A33VGSEJ44ORMF:3AQF3RZ55ALVWD78YJVNQYIVLN46FW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.28545, 1.91415, -3.99592 ], "start_rotation": [ 0, 0.59538, 0, -0.80344 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.63163, "euclidean_distance": 6.3467, "closest_goal_object_id": 4, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.38655, 3.51415, -8.78458 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3KWTYT08726LD1HQFBOGT59FNU25LK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.19842, 0.11415, -8.14506 ], "start_rotation": [ 0, 0.53998, 0, -0.84168 ], "object_category": "chair", "info": { "geodesic_distance": 2.37208, "euclidean_distance": 2.2058, "closest_goal_object_id": 827, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.08698, 0.11415, -7.31431 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "f4d601b86e624ad2a8d77280f36c7872", "path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_25_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0" ], "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "AZPZDX26SYMFY:3FDJT1UU76BATVZ8UBCFE5W0YW4K57", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.12058, 3.51415, 10.58133 ], "start_rotation": [ 0, 0.87134, 0, 0.49068 ], "object_category": "counter", "info": { "geodesic_distance": 21.63507, "euclidean_distance": 19.86712, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.02508, 3.51415, -9.11037 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6" ], "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3GNCZX450KQ8AS852Z84IXYLJA8APG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.01755, 0.11415, -0.4174 ], "start_rotation": [ 0, 0.92556, 0, 0.3786 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.30991, "euclidean_distance": 5.89391, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.91892, 0.11415, -6.15612 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_133_newN_0", "path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3I33IC7ZWH5CIL7Z01XSMKQS98CA26", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.866, 0.11415, 7.021 ], "start_rotation": [ 0, 0.82813, 0, -0.56054 ], "object_category": "picture", "info": { "geodesic_distance": 2.6256, "euclidean_distance": 2.46994, "closest_goal_object_id": 605, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.44318, 0.11415, 7.18217 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A2TUUIV61CR0C7:374TNBHA8DYU6M7NII19LO62RXPQYP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.23923, 0.06342, -1.20673 ], "start_rotation": [ 0, 0.36452, 0, -0.93119 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.95706, "euclidean_distance": 6.94971, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.14918, 0.11415, -6.10253 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A22VLXXVIEJSD1:3TYCR1GOTEMJKF1FMZVWI9GANKILZW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.06564, 0.11415, 4.24713 ], "start_rotation": [ 0, 0.63078, 0, -0.77596 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.15498, "euclidean_distance": 2.65071, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.59017, 0.11415, 6.92522 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A1ATL3G98SFW4V:3DL65MZB8FIS6GGDDZOKUGP556SCE0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.03357, 0.11415, 6.18983 ], "start_rotation": [ 0, 0.2117, 0, -0.97734 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.21252, "euclidean_distance": 0.93251, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.56883, 0.11415, 6.87395 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A3RR85PK3AV9TU:3C44YUNSI3S68ZBHM9Z68Y6R4FGDP0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.35399, 0.11415, 7.86488 ], "start_rotation": [ 0, 0.53119, 0, -0.84725 ], "object_category": "toilet", "info": { "geodesic_distance": 10.98046, "euclidean_distance": 10.35137, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.96853, 0.11415, 8.79475 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "AIIOT9A7ARQZW:39L1G8WVWSU59FQI8II4UT2HBQE31Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.61755, 3.51415, 10.94386 ], "start_rotation": [ 0, 0.93975, 0, 0.34186 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 9.74168, "euclidean_distance": 7.19535, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.92616, 3.51415, 4.39192 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "path": [ "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the monitor.", "instr_encoding": [ 101, 2424, 1996, 8080, 1012, 102 ], "original_path": [ "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", [ "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3PB5A5BD0X9KEDH8SD6XEXI3HFE7GP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.24929, 3.56394, -8.09693 ], "start_rotation": [ 0, 0.89909, 0, -0.43777 ], "object_category": "cushion", "info": { "geodesic_distance": 1.84535, "euclidean_distance": 1.67565, "closest_goal_object_id": 83, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.62393, 3.51415, -9.18914 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A3G5OWGKHW6OL5:3OB0CAO74JSHTT8KZSEFCAE10E6YHM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.63267, 0.11415, 0.83944 ], "start_rotation": [ 0, 0.88637, 0, -0.46298 ], "object_category": "toilet", "info": { "geodesic_distance": 10.90442, "euclidean_distance": 10.36711, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.04908, 0.11415, 8.84912 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "0_edge_133_newN_0", "path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A3TN1QCPUCJZBF:3WQ3B2KGEAJACAUVNBXACC0TZK7B19", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.32829, 3.51415, 12.25966 ], "start_rotation": [ 0, 0.87197, 0, 0.48956 ], "object_category": "table", "info": { "geodesic_distance": 7.78591, "euclidean_distance": 4.53803, "closest_goal_object_id": 235, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.38943, 3.51415, 10.21329 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "AZPZDX26SYMFY:304SM51WA57A6UTP0UCU8DN2PLDBSO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.42428, 3.51415, -2.35446 ], "start_rotation": [ 0, 0.99789, 0, 0.06485 ], "object_category": "plant", "info": { "geodesic_distance": 7.24993, "euclidean_distance": 6.8474, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.1618, 3.51415, 4.45067 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A19C2SO0IMRZ1L:3IAEQB9FMGNWS88IYVD10SENYJBDW2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.77882, 3.68597, 9.91791 ], "start_rotation": [ 0, 0.96086, 0, 0.27704 ], "object_category": "picture", "info": { "geodesic_distance": 4.256, "euclidean_distance": 2.43392, "closest_goal_object_id": 308, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.35059, 3.57758, 12.36998 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "AKYXQY5IP7S0Z:33FOTY3KEOOTMFM11BT5NW6BH7SC16", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.70609, 3.51415, 12.13332 ], "start_rotation": [ 0, 0.35412, 0, -0.9352 ], "object_category": "towel", "info": { "geodesic_distance": 21.20735, "euclidean_distance": 17.94606, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.97141, 3.51415, -2.31064 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "AIOOOO5OXWXKM:37XITHEISYCHFKLIZ58KTNOOL2PCRZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.75913, 0.11415, 11.45004 ], "start_rotation": [ 0, 0.07417, 0, 0.99725 ], "object_category": "shower", "info": { "geodesic_distance": 25.76662, "euclidean_distance": 20.35934, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.25374, 3.51415, -8.61788 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "4e796cd1c4594f9fb07bf8b48edf2dc2", "path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A3RR85PK3AV9TU:3E1QT0TDFRC2AISMS6Y6D9RE7B68IX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.21186, 3.51415, 9.39244 ], "start_rotation": [ 0, 0.82454, 0, -0.5658 ], "object_category": "picture", "info": { "geodesic_distance": 5.01576, "euclidean_distance": 4.12512, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.45957, 3.51415, 7.76233 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_69_newN_0", "path": [ "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "refined_path": [ "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad" ] }, { "episode_id": "A1P3HHEXWNLJMP:3RGU30DZTCBDQIEW4PTPUS794SKMJ5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.28184, 3.51415, 8.85467 ], "start_rotation": [ 0, 0.17022, 0, -0.98541 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.90248, "euclidean_distance": 1.73996, "closest_goal_object_id": 204, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.7074, 3.51415, 7.8056 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "c3b8b8e1f0994859869b42fb760fce9f", "path": [ "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f" ], "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A221PNPQRV4FC4:3QXNC7EIPKYRHSUGT8FE71MT6QM90E", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.13868, 3.51415, -6.48133 ], "start_rotation": [ 0, 0.99726, 0, 0.07395 ], "object_category": "fireplace", "info": { "geodesic_distance": 23.38293, "euclidean_distance": 12.03429, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.10594, 0.11415, 3.75265 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3JPSL1DZ5U2877WSMKVCE8TQK2GNAL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.01889, 3.51415, 10.19534 ], "start_rotation": [ 0, 0.97217, 0, -0.23427 ], "object_category": "picture", "info": { "geodesic_distance": 3.48483, "euclidean_distance": 2.15706, "closest_goal_object_id": 308, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.40272, 3.59129, 12.36709 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3TXD01ZLD6K6080KAKX7F0ZKZLBU40", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.73922, 0.11415, 8.79226 ], "start_rotation": [ 0, 0.77359, 0, 0.63369 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 13.4027, "euclidean_distance": 11.75413, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.13395, 0.11415, -0.16737 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A16K7X677N4WN6:3OWEPKL08BFQO5YUFHJS4HR0IPD7N6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.35046, 0.04154, -0.44265 ], "start_rotation": [ 0, 0.45661, 0, 0.88967 ], "object_category": "sink", "info": { "geodesic_distance": 11.40513, "euclidean_distance": 8.20769, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.80551, 0.11415, -8.02929 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A2CDM78GVCICO5:3NC5L260MQPLLJDCYFHH7Y4M6PCOFL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.42461, 3.51415, 8.20902 ], "start_rotation": [ 0, 0.63738, 0, -0.77055 ], "object_category": "toilet", "info": { "geodesic_distance": 2.44709, "euclidean_distance": 2.29138, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.1193, 3.51415, 6.33856 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] ] }, { "episode_id": "A1198W1SPF1R4:3UN61F00HYSWGZC3KVLCFHIETN35RO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.73002, 3.72218, -8.31149 ], "start_rotation": [ 0, 0.31348, 0, 0.9496 ], "object_category": "table", "info": { "geodesic_distance": 14.52277, "euclidean_distance": 11.40446, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.46135, 3.51415, 3.08275 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A1P3HHEXWNLJMP:3EQHHY4HQUV5R93P4KR0GD47Q5Q5G7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.13994, 3.51415, 6.86497 ], "start_rotation": [ 0, 0.5627, 0, 0.82666 ], "object_category": "shower", "info": { "geodesic_distance": 5.22791, "euclidean_distance": 4.14363, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.0997, 3.51415, 6.36077 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_125_newN_2", "path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A75XDPFNICR3T:3G0WWMR1UXN0UN39BGSY488VOJVQNM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.38974, 0.11415, 2.3648 ], "start_rotation": [ 0, 0.76863, 0, -0.6397 ], "object_category": "shower", "info": { "geodesic_distance": 18.4277, "euclidean_distance": 11.71197, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.20008, 3.51415, -8.69549 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "64fdd371adc042558d30fa9bd00a00f5", "path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "7cdc2565c773401289b95360da22e017", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A3TN1QCPUCJZBF:3LYA37P8ISQCIBGHVL3SHRWS8QGKBU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.96686, 0.11415, 2.10781 ], "start_rotation": [ 0, 0.84244, 0, -0.53879 ], "object_category": "toilet", "info": { "geodesic_distance": 9.02508, "euclidean_distance": 7.79598, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.96459, 0.11415, 8.84384 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A2TUUIV61CR0C7:3A1PQ49WVJKK3NXHN376YN3RTTXH17", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.15565, 0.11415, 10.39688 ], "start_rotation": [ 0, 0.1905, 0, -0.98169 ], "object_category": "bed", "info": { "geodesic_distance": 21.52878, "euclidean_distance": 19.2938, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.97903, 0.11415, -8.06439 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A3RYI5HXC2MJLN:3MYYFCXHJ5ANVQZPQF8QBLYTQDG4GU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.02557, 3.51415, 1.76286 ], "start_rotation": [ 0, 0.60119, 0, -0.7991 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.35067, "euclidean_distance": 10.52033, "closest_goal_object_id": 4, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.50799, 3.51415, -8.82268 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A17OSPGV41FZ7P:3KIBXJ1WD7XW155QZQ8ENBWREJFOK5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.82338, 3.7064, 12.3825 ], "start_rotation": [ 0, 0.82513, 0, 0.56495 ], "object_category": "table", "info": { "geodesic_distance": 9.08563, "euclidean_distance": 5.94568, "closest_goal_object_id": 235, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.4858, 3.51415, 10.17414 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "8f183f5d34d544e5a4d04bc8f28f10e8", "path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3Q5ZZ9ZEVQIQYUX7LMFCO0N9ZUR85L", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.90195, 0.11415, 10.27011 ], "start_rotation": [ 0, 0.22366, 0, -0.97467 ], "object_category": "seating", "info": { "geodesic_distance": 7.90066, "euclidean_distance": 7.21772, "closest_goal_object_id": 920, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.35414, 0.11415, 7.37056 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", [ "1407cf2da95e4f73951798295db82ab6" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A26LOVXF4QZZCO:33PPUNGG3A8UNDWSRJSS4LP9QLDRZD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.80456, 0.11415, -4.86104 ], "start_rotation": [ 0, 0.05171, 0, -0.99866 ], "object_category": "plant", "info": { "geodesic_distance": 8.49561, "euclidean_distance": 7.17538, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.4726, 0.11415, -0.40374 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A33VGSEJ44ORMF:39GHHAVOMHUXMSPQYLTT8YQ9F9MJ47", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.30183, 0.11415, -4.99645 ], "start_rotation": [ 0, 0.38229, 0, -0.92404 ], "object_category": "fireplace", "info": { "geodesic_distance": 9.65211, "euclidean_distance": 9.11251, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.10795, 0.11415, 3.91072 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "0_edge_58_newN_0", "0_edge_37_newN_0", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3UUH3632AI3ZX:3E337GFOLBB9HY9V8KNMAU4TEYRGNM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.09676, 3.58618, -8.59599 ], "start_rotation": [ 0, 0.68431, 0, 0.72919 ], "object_category": "table", "info": { "geodesic_distance": 15.116, "euclidean_distance": 11.68822, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.41824, 3.51415, 3.1482 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A3UUH3632AI3ZX:3MHW492WW2GMHDEQLE78XGI3WNFMVR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.50072, 1.67345, -2.49322 ], "start_rotation": [ 0, 0.99366, 0, 0.11244 ], "object_category": "table", "info": { "geodesic_distance": 3.53086, "euclidean_distance": 2.98603, "closest_goal_object_id": 678, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.12656, 0.11415, -1.40609 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3WYGZ5XF3YIBZXXJ67PN7G6S8F4KSV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.68976, 3.51415, 0.21661 ], "start_rotation": [ 0, 0.86061, 0, -0.50927 ], "object_category": "seating", "info": { "geodesic_distance": 15.34814, "euclidean_distance": 4.43292, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.97879, 0.11415, 0.67392 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737" ], "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ], "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6" ], "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", [ "176424bc97d94b12a52aefbdfb8c00d9" ], "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A3UUH3632AI3ZX:3P4MQ7TPPZFBP8CNP8QZIOD2HWNBBD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.02948, 0.11415, -4.48823 ], "start_rotation": [ 0, 0.51519, 0, -0.85707 ], "object_category": "plant", "info": { "geodesic_distance": 7.43589, "euclidean_distance": 5.27721, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.58963, 0.11415, -0.50011 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A1J3ON3YLGJAM6:3QBD8R3Z23MBN3GNEYLYGU7VE3UO4T", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.50665, 0.11415, -9.27894 ], "start_rotation": [ 0, 0.82945, 0, 0.55858 ], "object_category": "plant", "info": { "geodesic_distance": 8.30264, "euclidean_distance": 7.78568, "closest_goal_object_id": 812, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.03482, 0.11415, -4.05518 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "4f07d9e99e084876b0765220888d2545", "path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3AZHRG4CU6N52Q50CZE4GOJ720O303", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.12933, 2.48895, -3.65741 ], "start_rotation": [ 0, 0.9184, 0, -0.39565 ], "object_category": "sofa", "info": { "geodesic_distance": 7.97721, "euclidean_distance": 4.58838, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.0297, 0.11415, 0.05112 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A2DWSKGD9RNKMJ:33SA9F9TRZX1KEMIUQOL6AW8UUTWEP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.48075, 3.51415, 10.68395 ], "start_rotation": [ 0, 0.87194, 0, 0.48962 ], "object_category": "seating", "info": { "geodesic_distance": 27.75728, "euclidean_distance": 12.46406, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.91329, 0.11415, 0.76076 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "fec0a4503f7d4cee8f491934eff0d498", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "4f07d9e99e084876b0765220888d2545", "7cdc2565c773401289b95360da22e017", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c" ], "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ], "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A1P3HHEXWNLJMP:3ZY8KE4ISL6D2SCID7EPEP286O3QV9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.81316, 0.11415, -4.15479 ], "start_rotation": [ 0, 0.87729, 0, -0.47996 ], "object_category": "stool", "info": { "geodesic_distance": 14.59579, "euclidean_distance": 5.23475, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.19026, 0.11415, -0.20416 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3ZWFC4W1UWAOIW5SQ7YL1T9REGFRFL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.01258, 3.51415, 11.64353 ], "start_rotation": [ 0, 0.96774, 0, 0.25197 ], "object_category": "table", "info": { "geodesic_distance": 7.10817, "euclidean_distance": 3.98684, "closest_goal_object_id": 235, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.38051, 3.51415, 10.1765 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A1J3ON3YLGJAM6:3CP1TO84PV4FCFVI556BE9A6DU052G", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.30081, 3.51415, 3.82667 ], "start_rotation": [ 0, 0.99848, 0, 0.0552 ], "object_category": "fireplace", "info": { "geodesic_distance": 23.07506, "euclidean_distance": 6.73985, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.19558, 0.11415, 3.89734 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "6a3fba49106e4a9fb40cd0bf47dd4d46", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300" ], "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ], "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3RR85PK3AV9TU:38F71OA9GVZXLGS0LZ24FUFH8TDMFP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.58211, 3.51415, 12.65415 ], "start_rotation": [ 0, 0.61464, 0, 0.78881 ], "object_category": "cushion", "info": { "geodesic_distance": 12.22973, "euclidean_distance": 11.52654, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.79546, 3.51415, 3.33086 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", [ "f6cbc0517fc14f129f5456e59dc66c76" ], "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "AIIOT9A7ARQZW:33FBRBDW6Q2BXF6M0W2K26TJRC5C8R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.78626, -0.08585, 1.13139 ], "start_rotation": [ 0, 0.62889, 0, -0.77749 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 23.62014, "euclidean_distance": 7.8441, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.9125, 3.51415, 4.56422 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_36_newN_2", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "6a3fba49106e4a9fb40cd0bf47dd4d46", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Find the monitor.", "instr_encoding": [ 101, 2424, 1996, 8080, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "0_edge_36_newN_2", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad" ], "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", [ "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", [ "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a" ], "0_edge_36_newN_2", [ "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", [ "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315" ], "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", [ "18ea875fed1b4dc99363420c08cb4300" ], "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737" ], "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ] ] }, { "episode_id": "AZPZDX26SYMFY:3N8OEVH1FTTFRWQ5XI07USD0VUTOO2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.4318, 3.51415, 7.85279 ], "start_rotation": [ 0, 0.96706, 0, 0.25454 ], "object_category": "sofa", "info": { "geodesic_distance": 23.32121, "euclidean_distance": 8.71308, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.02902, 0.11415, 0.14828 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:354GIDR5ZD99LY63TCWLEQL0ZOS00T", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.41142, 3.51415, -2.02579 ], "start_rotation": [ 0, 0.96154, 0, 0.27468 ], "object_category": "plant", "info": { "geodesic_distance": 8.20453, "euclidean_distance": 6.69203, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.06126, 3.51415, 4.49853 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "AIIOT9A7ARQZW:3QRYMNZ7F0KDM3V1SKMT9DJI4T6TNH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.84564, 0.11415, 8.58619 ], "start_rotation": [ 0, 0.99988, 0, 0.01552 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 29.31867, "euclidean_distance": 7.26441, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.78491, 3.51415, 4.41012 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "0_edge_93_newN_1", "path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the monitor.", "instr_encoding": [ 101, 2424, 1996, 8080, 1012, 102 ], "original_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3KGTPGBS6ZOWXULX66EJML2MCBMU2G", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.32642, 3.51415, 7.73678 ], "start_rotation": [ 0, 0.16504, 0, -0.98629 ], "object_category": "fireplace", "info": { "geodesic_distance": 25.44381, "euclidean_distance": 5.81625, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.16718, 0.11415, 3.93089 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A1BZNPQ0H7ZSER:369J354OFFD1AD3393158JI7J83G6D", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.23095, 3.51415, -9.21466 ], "start_rotation": [ 0, 0.46919, 0, -0.8831 ], "object_category": "plant", "info": { "geodesic_distance": 15.28099, "euclidean_distance": 13.68129, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.06947, 3.51415, 4.50886 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A3G5OWGKHW6OL5:3TUI152ZZDQXGGWK6TU071VSHK2Q1Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.62363, 3.51415, 9.19897 ], "start_rotation": [ 0, 0.96734, 0, -0.2535 ], "object_category": "seating", "info": { "geodesic_distance": 26.26777, "euclidean_distance": 11.38981, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.96114, 0.11415, 0.63271 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "4ed46372db6849e28e1ed9ada35efeac", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "33f72d3f5ada42d09785a13fe1ff804f", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_58_newN_0", "0_edge_37_newN_0", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be" ], "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719" ], "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0" ], "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "AIIOT9A7ARQZW:3483FV8BEGMBVJVWAOGG6FO69PV62H", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.10926, 3.51415, 11.78487 ], "start_rotation": [ 0, 0.16494, 0, -0.9863 ], "object_category": "cushion", "info": { "geodesic_distance": 1.41821, "euclidean_distance": 1.34576, "closest_goal_object_id": 298, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.36913, 3.57803, 12.21838 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532" ], "refined_path": [ "2f3e7d98347047829630f0114694a532" ] }, { "episode_id": "A2TUUIV61CR0C7:31QNSG6A5TW5LYBQ9FU9MK15Q0H87V", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.03893, 3.51415, -6.03228 ], "start_rotation": [ 0, 0.50419, 0, -0.86359 ], "object_category": "seating", "info": { "geodesic_distance": 14.51427, "euclidean_distance": 9.11567, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.96398, 0.11415, 0.69971 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "4f07d9e99e084876b0765220888d2545", "b12981cba2ba4525b377ef503d92b843", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "e28810ab6e9745f89e3b124320caf5a8", [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A33VGSEJ44ORMF:3BWI6RSP7ICMUZLHMIG9EUXR1347EI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.5877, 3.51415, 8.81443 ], "start_rotation": [ 0, 0.5758, 0, -0.81759 ], "object_category": "table", "info": { "geodesic_distance": 4.27938, "euclidean_distance": 3.47263, "closest_goal_object_id": 119, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.95236, 3.51415, 6.30963 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] ] }, { "episode_id": "AIIOT9A7ARQZW:3C2NJ6JBKCKJ241O952X8QAS4GUN2K", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.44592, 0.11415, 7.4918 ], "start_rotation": [ 0, 0.09927, 0, -0.99506 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 27.68147, "euclidean_distance": 5.7551, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.7671, 3.51415, 4.38637 ] }, "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "1407cf2da95e4f73951798295db82ab6", "path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Locate the monitor.", "instr_encoding": [ 101, 12453, 1996, 8080, 1012, 102 ], "original_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A3NFGEUZAH9V5G:3S06PH7KST73R7SF17OG72OTY5B1DU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.76915, 3.51415, 9.66179 ], "start_rotation": [ 0, 0.12294, 0, -0.99241 ], "object_category": "sofa", "info": { "geodesic_distance": 26.64005, "euclidean_distance": 11.96272, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.13701, 0.11415, 0.16103 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "138030a069484c288b3b77f8a7cbd7be", "path": [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "refined_path": [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ] ] }, { "episode_id": "AIIOT9A7ARQZW:36ZN444YTT15VAF2ZNN2AVHEJLVIO2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.40796, 0.11415, -4.23531 ], "start_rotation": [ 0, 0.69301, 0, 0.72093 ], "object_category": "seating", "info": { "geodesic_distance": 8.51717, "euclidean_distance": 5.12344, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.94752, 0.11415, 0.65285 ] }, "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A2R0YYUAWNT7UD:3ZGVPD4G6VK73S9KV8XN40QRE6JTZ1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.61072, 3.69415, -8.11715 ], "start_rotation": [ 0, 0.92998, 0, -0.36762 ], "object_category": "fireplace", "info": { "geodesic_distance": 20.43551, "euclidean_distance": 12.81854, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.21822, 0.11415, 3.95519 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "148a81e548314c67b6f5f226601a27de", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A33VGSEJ44ORMF:33IZTU6J834HJXWQ5Q4CXAEU4NSSXZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.17749, 3.51415, 7.9788 ], "start_rotation": [ 0, 0.83428, 0, 0.55134 ], "object_category": "table", "info": { "geodesic_distance": 3.16555, "euclidean_distance": 2.81241, "closest_goal_object_id": 235, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.48831, 3.51415, 10.07808 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "8919ba4762914e899c88536f11c7bb92", "path": [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:37TD41K0AJCTGZLVEU8PJXTK358SC1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.67738, 3.51415, -8.68402 ], "start_rotation": [ 0, 0.89463, 0, -0.44681 ], "object_category": "sofa", "info": { "geodesic_distance": 14.90352, "euclidean_distance": 9.48103, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.07651, 0.11415, 0.15164 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "cf7c2bd80f934238aede140bb9bd1284", "path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ], "refined_path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ] }, { "episode_id": "A2AAY4VT9L71SY:3PS7W85Z815SX1R7RA3ORCOYZ3R9TY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.45837, 3.70188, -7.70137 ], "start_rotation": [ 0, 0.9996, 0, -0.02826 ], "object_category": "fireplace", "info": { "geodesic_distance": 21.64358, "euclidean_distance": 12.71346, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.09792, 0.11415, 3.77774 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "a55dab7d921b47d59b1391d69fa7e464", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ], "refined_path": [ "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0" ], "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ] }, { "episode_id": "A2L26DMSVUEDP6:3RU7GD8VPQWCAOUZJZUV3XSR2OUPSJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.69475, 0.11415, 11.48397 ], "start_rotation": [ 0, 0.3276, 0, 0.94482 ], "object_category": "stool", "info": { "geodesic_distance": 6.31636, "euclidean_distance": 5.94717, "closest_goal_object_id": 552, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.80106, 0.11415, 8.64231 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "episode_id": "A3UUH3632AI3ZX:3GS6S824SS05EKZVNPR4WXQH8MIWN2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.54717, 0.11415, -4.58686 ], "start_rotation": [ 0, 0.02092, 0, -0.99978 ], "object_category": "plant", "info": { "geodesic_distance": 7.89646, "euclidean_distance": 6.42123, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.62601, 0.11415, -0.57199 ] }, "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A3RR85PK3AV9TU:3P529IW9K0ODFYAFLN1PFH0S8O3FLW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.38468, 3.51415, 1.75128 ], "start_rotation": [ 0, 0.8154, 0, -0.5789 ], "object_category": "sofa", "info": { "geodesic_distance": 15.13278, "euclidean_distance": 4.16476, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.17898, 0.11415, 0.2473 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_1", "0_edge_69_newN_0", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "148a81e548314c67b6f5f226601a27de", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "0_edge_69_newN_1", "0_edge_69_newN_0", [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c" ], "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3ZV9H2YQQFAYAG6L567PNJSB35VW3Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.87353, 3.51415, 8.23693 ], "start_rotation": [ 0, 0.92967, 0, -0.36839 ], "object_category": "sofa", "info": { "geodesic_distance": 22.84626, "euclidean_distance": 9.37346, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.08966, 0.11415, 0.22161 ] }, "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "463e439a4e974a00b23bfe7c684a2607", "path": [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_1", "0_edge_69_newN_0", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "0_edge_69_newN_1", "0_edge_69_newN_0", [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "ARQR5NIFA1AJ:3OHYZ19UGE8QPSW4NZVPTXTV6EZOAF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.84509, 3.51415, -8.68515 ], "start_rotation": [ 0, 0.59291, 0, -0.80527 ], "object_category": "table", "info": { "geodesic_distance": 13.36778, "euclidean_distance": 11.85677, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.47729, 3.51415, 3.0775 ] }, "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76" ] }, { "episode_id": "A2Q6L9LKSNU7EB:37XITHEISYCHFKLIZ58KTNOOG0IRCY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.69244, 3.51415, 3.53136 ], "start_rotation": [ 0, 0.78945, 0, -0.61381 ], "object_category": "sink", "info": { "geodesic_distance": 5.66953, "euclidean_distance": 4.00027, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.30948, 3.51415, 7.34832 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A1NLDZ3T0S2CX:3BC8WZX3V5ZLLMA1H2YFIINAH4NRRD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.63519, 0.11415, -5.19031 ], "start_rotation": [ 0, 0.80286, 0, -0.59617 ], "object_category": "stool", "info": { "geodesic_distance": 13.95463, "euclidean_distance": 5.45764, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.38497, 0.11415, -0.18769 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0" ], "refined_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0" ] }, { "episode_id": "A5A14MTB35J23:3GA6AFUKOQRGDQBWA7LPMGIOOHRH3K", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.26184, 3.0962, -4.01262 ], "start_rotation": [ 0, 0.19678, 0, 0.98045 ], "object_category": "stool", "info": { "geodesic_distance": 3.61633, "euclidean_distance": 2.10183, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.10657, 3.51415, -5.88874 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A272X64FOZFYLB:3GFK2QRXXBK1OVTPJPVI2GQVH1DW57", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.11115, 1.91415, -3.56077 ], "start_rotation": [ 0, 0.37198, 0, 0.92824 ], "object_category": "stool", "info": { "geodesic_distance": 5.85279, "euclidean_distance": 3.00953, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.92585, 3.51415, -5.91278 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "AIIOT9A7ARQZW:3WETL7AQWVB4XXR195KGXJFYJ8K359", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.52475, 0.11415, -8.04404 ], "start_rotation": [ 0, 0.74827, 0, -0.66339 ], "object_category": "stool", "info": { "geodesic_distance": 13.3103, "euclidean_distance": 8.85642, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.24588, 0.11415, -0.24399 ] }, "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "f4d601b86e624ad2a8d77280f36c7872", "path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "dbec0f4e228c44cda1f991905404541c", "0_edge_25_newN_0", "0_edge_57_newN_1", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0" ], "0_edge_57_newN_1", [ "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c" ], "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3P1L2B7AD3S7LBN8KQKF2B960PWOLT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.08928, 3.51415, -9.01383 ], "start_rotation": [ 0, 0.97257, 0, 0.23261 ], "object_category": "fireplace", "info": { "geodesic_distance": 19.89758, "euclidean_distance": 13.53886, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.12131, 0.11415, 3.77673 ] }, "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ] }, { "episode_id": "A3RR85PK3AV9TU:3K772S5NPAEJNORTZR2L57MLF4SEHF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.2371, 3.51415, 0.54549 ], "start_rotation": [ 0, 0.49552, 0, -0.86859 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.83049, "euclidean_distance": 6.02319, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.64672, 3.51415, -4.97802 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "f6cbc0517fc14f129f5456e59dc66c76", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3VHP9MDGRPNKCUG98A8QCYA5DC2CFJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.35613, 3.51415, 12.32549 ], "start_rotation": [ 0, 0.40291, 0, -0.91524 ], "object_category": "towel", "info": { "geodesic_distance": 20.93169, "euclidean_distance": 17.89529, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.03143, 3.51415, -2.28325 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A2TUUIV61CR0C7:30IQTZXKAM9HIOCEWOLSN48B8SJX0K", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.37866, -0.08585, -11.40963 ], "start_rotation": [ 0, 0.06356, 0, -0.99798 ], "object_category": "counter", "info": { "geodesic_distance": 4.48034, "euclidean_distance": 4.11512, "closest_goal_object_id": 881, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.49342, 0.11415, -8.6507 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A2Q6L9LKSNU7EB:32SCWG5HIJ77NQW2CMRS2SWZJWPP6I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.34903, 0.11415, -4.56402 ], "start_rotation": [ 0, 0.89663, 0, 0.44279 ], "object_category": "toilet", "info": { "geodesic_distance": 10.02256, "euclidean_distance": 6.45438, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.78691, 0.11415, -4.4588 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A23LXQ5ZX2YONR:3STRJBFXOYUCEXAYV7UDHL2E9UWTKY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.42827, 3.51415, 12.45115 ], "start_rotation": [ 0, 0.88562, 0, -0.46441 ], "object_category": "toilet", "info": { "geodesic_distance": 6.52486, "euclidean_distance": 6.11785, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.13421, 3.51415, 6.28593 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", [ "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3O6CYIULEF4I9AJ4KQ3QASIBFFAWUM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.35725, 3.58434, 10.14268 ], "start_rotation": [ 0, 0.82145, 0, 0.57028 ], "object_category": "picture", "info": { "geodesic_distance": 3.81029, "euclidean_distance": 2.17634, "closest_goal_object_id": 308, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.45411, 3.60606, 12.40655 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ] }, { "episode_id": "A2L26DMSVUEDP6:3QXNC7EIPKYRHSUGT8FE71MT1P590Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.11603, 3.51415, 12.55903 ], "start_rotation": [ 0, 0.63748, 0, 0.77047 ], "object_category": "counter", "info": { "geodesic_distance": 24.92312, "euclidean_distance": 22.2203, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.12896, 3.51415, -9.07554 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "AZPZDX26SYMFY:3LUY3GC6313QRQA7VWWK86WVE7V7PL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.48372, 3.51415, 11.31572 ], "start_rotation": [ 0, 0.14086, 0, -0.99003 ], "object_category": "towel", "info": { "geodesic_distance": 19.76602, "euclidean_distance": 13.65106, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.00638, 3.51415, -2.30741 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "path": [ "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be" ], "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3VNL7UK1XHM1YBIKUW3G18A92Z4FTA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.07864, 3.51415, 3.6878 ], "start_rotation": [ 0, 0.78242, 0, 0.62275 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.89982, "euclidean_distance": 5.84741, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.50049, 3.51415, 9.39052 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "0_edge_125_newN_1" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1" ] }, { "episode_id": "A17C8CUROFU495:3RSDURM96CP59JHI9R69R7HO4ZBYE1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.26592, 3.51415, 11.94451 ], "start_rotation": [ 0, 0.99999, 0, -0.00404 ], "object_category": "picture", "info": { "geodesic_distance": 6.4222, "euclidean_distance": 5.66975, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.4898, 3.51415, 7.71067 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad" ] }, { "episode_id": "A221PNPQRV4FC4:3FTOP5WARHRGN47PFK6RWV0WXUM0JH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.40275, 3.51415, 8.23441 ], "start_rotation": [ 0, 0.97456, 0, -0.22415 ], "object_category": "towel", "info": { "geodesic_distance": 19.95666, "euclidean_distance": 10.60538, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.08359, 3.51415, -2.40408 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "4ed46372db6849e28e1ed9ada35efeac", "path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be" ], "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A26LOVXF4QZZCO:3FQ5JJ512NREJK5EYB818MWMKCDNKU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.34541, 3.51415, -2.90924 ], "start_rotation": [ 0, 0.06523, 0, 0.99787 ], "object_category": "toilet", "info": { "geodesic_distance": 10.6811, "euclidean_distance": 2.91473, "closest_goal_object_id": 50, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.11128, 3.51415, -5.68984 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "18ea875fed1b4dc99363420c08cb4300", "path": [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A1K581IY10MNC0:33CID57106WIZMUM1S0NE8BV4VKL38", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.69244, 3.51415, 3.53136 ], "start_rotation": [ 0, 0.78945, 0, -0.61381 ], "object_category": "sink", "info": { "geodesic_distance": 5.66953, "euclidean_distance": 4.00027, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.30948, 3.51415, 7.34832 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A3RR85PK3AV9TU:3V26SBZTBFH3P4IJ10M5QOR8YZGZZR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.88439, 0.11415, -6.02017 ], "start_rotation": [ 0, 0.70605, 0, 0.70817 ], "object_category": "towel", "info": { "geodesic_distance": 7.9742, "euclidean_distance": 5.51565, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.17896, 0.11415, -4.52358 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "76ba074e4b7a46feb3d829302db3bd2e", "path": [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A74PT3GRDMEZ:3O7L7BFSHGSJJJ2D59K65JN0EGAIEC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.11191, 3.51415, 4.49576 ], "start_rotation": [ 0, 0.55368, 0, -0.83273 ], "object_category": "sink", "info": { "geodesic_distance": 4.72577, "euclidean_distance": 3.29481, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.31224, 3.51415, 7.29124 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] ] }, { "episode_id": "A2MCG5W6LHSRG9:3ZQIG0FLQGJIMP84PGDV6EKUUN1WVW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.31941, 3.51415, 12.56963 ], "start_rotation": [ 0, 0.15783, 0, -0.98747 ], "object_category": "bed", "info": { "geodesic_distance": 11.24282, "euclidean_distance": 6.06013, "closest_goal_object_id": 284, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.84854, 3.51415, 9.72266 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "AZPZDX26SYMFY:374TNBHA8DYU6M7NII19LO62N2ZYQD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.03203, -0.06073, -0.65795 ], "start_rotation": [ 0, 0.50934, 0, 0.86056 ], "object_category": "counter", "info": { "geodesic_distance": 11.1346, "euclidean_distance": 9.52637, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.36952, 0.11415, 7.92764 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A5WWHKD82I8UE:3TUI152ZZDQXGGWK6TU071VSGHT1QL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.68465, 0.11415, -3.11204 ], "start_rotation": [ 0, 0.99165, 0, -0.12894 ], "object_category": "sink", "info": { "geodesic_distance": 6.55253, "euclidean_distance": 5.22701, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.85638, 0.11415, -8.02948 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A33VGSEJ44ORMF:34V1S5K3GU4MV3GVVXVVG2WKESI69F", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.28832, 0.11415, -9.48008 ], "start_rotation": [ 0, 1, 0, -0.00048 ], "object_category": "chair", "info": { "geodesic_distance": 3.59727, "euclidean_distance": 3.01212, "closest_goal_object_id": 827, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.19891, 0.11415, -7.27056 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "f4d601b86e624ad2a8d77280f36c7872", "path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_25_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0" ], "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "A3L8LSM7V7KX3T:3X1FV8S5JZUMP3I4AB9DKBY6ZYSGVV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.27521, 0.11415, 11.59234 ], "start_rotation": [ 0, 0.77479, 0, -0.63222 ], "object_category": "counter", "info": { "geodesic_distance": 6.51705, "euclidean_distance": 1.80399, "closest_goal_object_id": 418, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.49559, 0.11415, 11.45066 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0_edge_84_newN_0", "path": [ "0_edge_84_newN_0", "10_edge_156_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_84_newN_0", "10_edge_156_newN_0", "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "0_edge_84_newN_0", "10_edge_156_newN_0", [ "0_edge_84_newN_0" ], "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A75XDPFNICR3T:3F6KKYWMND465EZ46UME491W03QDNH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.49582, 0.11415, 5.17464 ], "start_rotation": [ 0, 0.99809, 0, -0.06179 ], "object_category": "shower", "info": { "geodesic_distance": 19.76841, "euclidean_distance": 14.21072, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.23999, 3.51415, -8.56825 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_73_newN_1", "path": [ "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A1J3ON3YLGJAM6:3X65QVEQI2Q6CMQ5ULBO7BFPA7CCLA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.47637, 3.51415, 12.20201 ], "start_rotation": [ 0, 0.9883, 0, 0.15254 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.51348, "euclidean_distance": 4.18795, "closest_goal_object_id": 204, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.76761, 3.51415, 8.14334 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "A2MCG5W6LHSRG9:3137ONMDKI85NSWIFLK3K7AKZ2ZGEX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.8326, 0.11415, 0.14704 ], "start_rotation": [ 0, 0.98997, 0, -0.14128 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.5929, "euclidean_distance": 7.13891, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.06251, 0.11415, -6.25048 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", [ "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A16K7X677N4WN6:31QTRG6Q2VG96A68I5MKLJGSI6TYP2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.63214, 0.11415, 9.27229 ], "start_rotation": [ 0, 0.65759, 0, -0.75337 ], "object_category": "bed", "info": { "geodesic_distance": 18.68821, "euclidean_distance": 17.57708, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.99478, 0.11415, -7.96898 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_39_newN_1", "path": [ "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A1P3HHEXWNLJMP:3PW9OPU9PSNGOXUZ4I4ZBJXP0BT21M", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.18146, 0.11415, 7.56431 ], "start_rotation": [ 0, 0.61923, 0, -0.78521 ], "object_category": "bed", "info": { "geodesic_distance": 21.38763, "euclidean_distance": 15.82946, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.94785, 0.11415, -7.94048 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A3RR85PK3AV9TU:3HOSI13XH1RXJ28RH08B84P2MZCDDN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.7748, 0.11415, 8.43049 ], "start_rotation": [ 0, 0.99993, 0, -0.01217 ], "object_category": "toilet", "info": { "geodesic_distance": 10.41964, "euclidean_distance": 9.73435, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.0152, 0.11415, 8.79306 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "0_edge_93_newN_1", "path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A2Q6L9LKSNU7EB:32SCWG5HIJ77NQW2CMRS2SWZJWQ6P0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.938, 3.51415, -5.25317 ], "start_rotation": [ 0, 0.56479, 0, -0.82523 ], "object_category": "picture", "info": { "geodesic_distance": 2.49412, "euclidean_distance": 2.28595, "closest_goal_object_id": 46, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.28555, 3.51415, -4.99394 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "71859791901b45939806508a364adf17", "path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A21ZK49H9LSSRY:33PPUNGG3A8UNDWSRJSS4LP9PIMRZF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.78645, 3.51415, 3.04156 ], "start_rotation": [ 0, 0.8455, 0, 0.53397 ], "object_category": "bed", "info": { "geodesic_distance": 8.67325, "euclidean_distance": 6.79628, "closest_goal_object_id": 284, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.86437, 3.51415, 9.8355 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ] }, { "episode_id": "A2FRVUNDQQY7S9:3AUQQEL7U7WPEZ7JW9KAZJBQSHFV0J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.26867, 3.83879, -7.30866 ], "start_rotation": [ 0, 0.77381, 0, -0.63341 ], "object_category": "chair", "info": { "geodesic_distance": 2.88124, "euclidean_distance": 2.30206, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.40075, 3.51415, -8.21514 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A2TUUIV61CR0C7:3YJ6NA41JDJJBLB9W5LHBW1451NPJ0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.64069, 3.51415, 11.86117 ], "start_rotation": [ 0, 0.99682, 0, 0.07964 ], "object_category": "shower", "info": { "geodesic_distance": 10.31535, "euclidean_distance": 8.63697, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.19083, 3.51415, 6.39807 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A23LXQ5ZX2YONR:3VD82FOHKSREI7T27DRGZSJJ5DXCO9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.05526, 3.51415, 12.53497 ], "start_rotation": [ 0, 0.3636, 0, -0.93156 ], "object_category": "picture", "info": { "geodesic_distance": 5.78038, "euclidean_distance": 5.43525, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.42776, 3.51415, 7.67908 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A9K0CV70JWG1W:3WMINLGALD6PG3Z1XUMYYXZEGWIACX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.91158, 0.11415, -8.13767 ], "start_rotation": [ 0, 0.56198, 0, 0.82715 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.85893, "euclidean_distance": 5.2229, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.62879, 0.11415, -3.75502 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A74PT3GRDMEZ:34BBWHLWHCED0JO4Q9ECRPU0ML6WI0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.01895, 0.11415, 0.24562 ], "start_rotation": [ 0, 0.4332, 0, 0.9013 ], "object_category": "bed", "info": { "geodesic_distance": 11.49382, "euclidean_distance": 10.20945, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.14346, 0.11415, -7.94286 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A9K0CV70JWG1W:3ZV9H2YQQFAYAG6L567PNJSB2283W3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.61436, 0.11415, 2.16972 ], "start_rotation": [ 0, 0.67237, 0, 0.74021 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.24815, "euclidean_distance": 3.48047, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.7647, 0.11415, -1.02512 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "64fdd371adc042558d30fa9bd00a00f5", "path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AD1ILDUXZHASF:3WMOAN2SRD0SZVZQXFM8AV7309TVNV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.6641, 0.11415, -3.89931 ], "start_rotation": [ 0, 0.73975, 0, -0.67289 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.25904, "euclidean_distance": 4.95932, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.0513, 0.11415, -6.04356 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3FUI0JHJPZ11JI4XVMWNIMHE49S33B", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.5285, 0.04076, -0.04416 ], "start_rotation": [ 0, 0.5732, 0, 0.81942 ], "object_category": "picture", "info": { "geodesic_distance": 4.47225, "euclidean_distance": 3.97661, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.18037, 0.11415, -1.88566 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ] }, { "episode_id": "ACI0C2WU1NABK:3U5NZHP4LT5NKFGJ85IWZJLPSA1HP7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.30577, 0.11415, 6.07297 ], "start_rotation": [ 0, 0.43685, 0, 0.89954 ], "object_category": "shower", "info": { "geodesic_distance": 22.64074, "euclidean_distance": 16.17805, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.28795, 3.51415, -8.64427 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0d3a3b42009441e2a02200423049d804", "path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A272X64FOZFYLB:3M23Y66PO4A40ICU43VMXX1A6GOS6T", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.34653, -0.08366, 0.28526 ], "start_rotation": [ 0, 0.71547, 0, -0.69864 ], "object_category": "sink", "info": { "geodesic_distance": 12.17197, "euclidean_distance": 9.30565, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.71074, 0.11415, -8.02826 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] ] }, { "episode_id": "A221PNPQRV4FC4:3Q5ZZ9ZEVQIQYUX7LMFCO0N9YRP589", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.44967, 3.51415, -5.26185 ], "start_rotation": [ 0, 0.53723, 0, 0.84344 ], "object_category": "chair", "info": { "geodesic_distance": 2.76277, "euclidean_distance": 2.588, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.83315, 3.51415, -6.34832 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "29f8bc9c86e94a3692ec50fbad2e7204", "path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A2MCG5W6LHSRG9:3UN61F00HYSWGZC3KVLCFHIEOJ35RB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.84232, 0.11415, 5.22562 ], "start_rotation": [ 0, 0.97712, 0, -0.2127 ], "object_category": "toilet", "info": { "geodesic_distance": 5.68255, "euclidean_distance": 5.24482, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.9774, 0.11415, 8.77752 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2TUUIV61CR0C7:379J5II41QJL9KAJQCHJXZFSVKBLE0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.41012, 3.51415, 9.16084 ], "start_rotation": [ 0, 0.35364, 0, -0.93538 ], "object_category": "picture", "info": { "geodesic_distance": 1.96321, "euclidean_distance": 1.53331, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.6242, 3.51415, 8.201 ] }, "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ] }, { "episode_id": "AJTLLYV8O5FQU:3OVHNO1VE840M3DN9IX8ZW85BIFDZI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.43831, 3.51415, 8.332 ], "start_rotation": [ 0, 0.34866, 0, -0.93725 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 1.75354, "euclidean_distance": 1.60546, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.94747, 3.51415, 9.79497 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "4ed46372db6849e28e1ed9ada35efeac", "path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A1T7EB1WEDCMXV:35GMH2SV3GKTF5DG34XBPGJMQPVEOP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.01365, 3.51415, 10.47308 ], "start_rotation": [ 0, 0.71266, 0, -0.70151 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.06664, "euclidean_distance": 4.64847, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.47434, 3.51415, 9.2518 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ] }, { "episode_id": "A5WWHKD82I8UE:3J4Q2Z4UT06QHHCN3HJL0RLMCU9WQM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.35061, -0.05496, -0.24905 ], "start_rotation": [ 0, 0.51107, 0, -0.85954 ], "object_category": "chair", "info": { "geodesic_distance": 3.49061, "euclidean_distance": 2.52778, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.84712, 0.11415, -1.01611 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] ] }, { "episode_id": "AXY0D2AMLKE2A:3WI0P0II63VRKCRWZ13VDT6610IDR8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.65593, 0.06292, 0.17929 ], "start_rotation": [ 0, 0.35306, 0, 0.9356 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.71552, "euclidean_distance": 8.2021, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.74618, 0.11415, -1.07381 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", [ "163d61ac7edb43fb958c5d9e69ae11ad" ], "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A74PT3GRDMEZ:36AHBNMV1TF0HD3IDWVPLPZ34NIYDG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.38888, 0.11415, 9.63027 ], "start_rotation": [ 0, 0.56888, 0, 0.82242 ], "object_category": "toilet", "info": { "geodesic_distance": 8.43798, "euclidean_distance": 7.8259, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.92739, 0.11415, 11.54052 ] }, "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A3G5OWGKHW6OL5:3S3AMIZX3W8NEA2DH4D0OY7K20DCD2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.33603, 0.11415, -5.47481 ], "start_rotation": [ 0, 0.09984, 0, -0.995 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.87542, "euclidean_distance": 3.98749, "closest_goal_object_id": 829, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.06313, 0.11415, -8.27744 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c" ], "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:34HJIJKLP7Z6DNPKFA7CBM13AU3V4A", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.81198, 0.11415, 8.83707 ], "start_rotation": [ 0, 0.06881, 0, -0.99763 ], "object_category": "cushion", "info": { "geodesic_distance": 8.21135, "euclidean_distance": 7.71481, "closest_goal_object_id": 628, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.19975, 0.11415, 4.4739 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "refined_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ] }, { "episode_id": "A1J3ON3YLGJAM6:3J4Q2Z4UT06QHHCN3HJL0RLMCUXWQA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.65994, 0.11415, 8.0454 ], "start_rotation": [ 0, 0.99553, 0, 0.09446 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.94401, "euclidean_distance": 9.3601, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.77815, 0.11415, -1.13306 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "1eae38cbbaf744f99de90c99d8c013f1", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", [ "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A1F6MWP9A0XLJQ:33CID57106WIZMUM1S0NE8BV4VJ3LP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.1177, 0.70784, -2.53944 ], "start_rotation": [ 0, 0.99748, 0, -0.07102 ], "object_category": "towel", "info": { "geodesic_distance": 10.82837, "euclidean_distance": 6.46235, "closest_goal_object_id": 18, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.18222, 3.51415, -8.39889 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A221PNPQRV4FC4:3CN4LGXD5ZRNHHKPKLUWIL5XRAJ4Y3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.92793, 1.26581, -2.66655 ], "start_rotation": [ 0, 0.84635, 0, 0.53263 ], "object_category": "sink", "info": { "geodesic_distance": 6.95689, "euclidean_distance": 3.66964, "closest_goal_object_id": 164, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.20864, 3.51415, -2.4822 ] }, "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A3L8LSM7V7KX3T:33JKGHPFYEX9985HJNLHNZOQ9GGMN4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.16516, 0.11415, 1.13276 ], "start_rotation": [ 0, 0.95725, 0, -0.28927 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.39283, "euclidean_distance": 5.69839, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.68429, 0.11415, 6.84708 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_2", "path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", [ "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A3RR85PK3AV9TU:317HQ483I9VNDPFQY8NPV6H9T9INIG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.337, 0.06978, -1.04005 ], "start_rotation": [ 0, 0.98669, 0, -0.16264 ], "object_category": "chair", "info": { "geodesic_distance": 3.11215, "euclidean_distance": 1.43704, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.88457, 0.11415, -0.83385 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ] }, { "episode_id": "A74PT3GRDMEZ:38F71OA9GVZXLGS0LZ24FUFH7Q4FM2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.09324, 3.51415, 7.19195 ], "start_rotation": [ 0, 0.29377, 0, -0.95588 ], "object_category": "towel", "info": { "geodesic_distance": 13.8176, "euclidean_distance": 11.25193, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.94657, 3.51415, -2.30972 ] }, "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "0_edge_125_newN_2", "path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A89HSG51VTPP0:3KV0LJBBH4OUO6X9CU2YWJT0AE3MRS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.9147, 0.11415, 11.92614 ], "start_rotation": [ 0, 0.99169, 0, -0.12865 ], "object_category": "bed", "info": { "geodesic_distance": 21.43721, "euclidean_distance": 20.32104, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.9474, 0.11415, -8.04703 ] }, "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A2A7O6KYJ9GS8A:3GD6L00D3U06V1YSE0NJQSBN6GNM1A", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.93598, 0.11415, -4.07129 ], "start_rotation": [ 0, 0.27226, 0, -0.96222 ], "object_category": "counter", "info": { "geodesic_distance": 4.90354, "euclidean_distance": 4.11865, "closest_goal_object_id": 881, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.47694, 0.11415, -7.28246 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A75XDPFNICR3T:3W2LOLRXLDIZYIX6RIPIH61WL9CRKW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.56072, 3.51415, -3.96789 ], "start_rotation": [ 0, 0.34883, 0, -0.93719 ], "object_category": "shower", "info": { "geodesic_distance": 5.26239, "euclidean_distance": 4.91963, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.24622, 3.51415, -8.63243 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ] }, { "episode_id": "A9K0CV70JWG1W:3XCC1ODXDNEL9LV14N9FDSD5KE2RQK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.43148, 0.04495, -9.66253 ], "start_rotation": [ 0, 0.91279, 0, 0.40844 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.89049, "euclidean_distance": 1.41099, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.44764, 0.11415, -8.64439 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3Z4XG4ZF4AUZ0DHHRSY7GJETRQ78XU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.40014, -0.08585, -11.86783 ], "start_rotation": [ 0, 0.0869, 0, 0.99622 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.83863, "euclidean_distance": 10.91269, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.68017, 0.11415, -3.65604 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A3RR85PK3AV9TU:3LS2AMNW5HTIC83LCVSBJX809S4QOY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.65484, 0.11415, 10.36762 ], "start_rotation": [ 0, 0.95191, 0, -0.30638 ], "object_category": "shower", "info": { "geodesic_distance": 24.73236, "euclidean_distance": 19.45133, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.25135, 3.51415, -8.61615 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_39_newN_1", "path": [ "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "b12981cba2ba4525b377ef503d92b843", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "b12981cba2ba4525b377ef503d92b843", [ "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A1J3ON3YLGJAM6:3R8YZBNQ9JLBR2BMV9B98BM5J287Q1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.57597, -0.08585, -11.35534 ], "start_rotation": [ 0, 0.08389, 0, -0.99647 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.15838, "euclidean_distance": 2.8904, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.47718, 0.11415, -8.6228 ] }, "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "ACI0C2WU1NABK:3RANCT1ZVHKQL7LTPZ7UNE5Q5EUBUN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.37117, -0.08585, -0.77087 ], "start_rotation": [ 0, 0.99103, 0, -0.13364 ], "object_category": "chair", "info": { "geodesic_distance": 5.53539, "euclidean_distance": 4.40837, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.84596, 0.11415, -0.98846 ] }, "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] ] }, { "episode_id": "A2TUUIV61CR0C7:345LHZDEDZVLICHGA6SO5V7EHM1U3Z", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.3136, 0.07039, -1.48294 ], "start_rotation": [ 0, 0.68748, 0, 0.7262 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.10589, "euclidean_distance": 8.44888, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.74631, 0.11415, -0.96251 ] }, "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3PW9OPU9PSNGOXUZ4I4ZBJXP1CG12B", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.61769, 3.51415, 8.19555 ], "start_rotation": [ 0, 0.86531, 0, 0.50124 ], "object_category": "cushion", "info": { "geodesic_distance": 7.31143, "euclidean_distance": 6.85855, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.75761, 3.51415, 3.38056 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "AD1ILDUXZHASF:3HMIGG0U4N9O0I7RWOK9ZXL2TVWY8J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.17909, 0.11415, -7.9381 ], "start_rotation": [ 0, 0.97119, 0, -0.23833 ], "object_category": "shower", "info": { "geodesic_distance": 17.74253, "euclidean_distance": 3.46761, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.26854, 3.51415, -8.53355 ] }, "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "AZPZDX26SYMFY:3MX2NQ3YCBXGDVYFTUR44Z42Q1A5XW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.85109, 0.11415, -5.42173 ], "start_rotation": [ 0, 0.99366, 0, -0.11243 ], "object_category": "cushion", "info": { "geodesic_distance": 5.65883, "euclidean_distance": 4.54011, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.00422, 0.11415, -8.81919 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c" ], "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ] ] }, { "episode_id": "A2MCG5W6LHSRG9:3TK8OJTYM3OS2GB3DUZ0EKCY1Q8VPA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.8402, 0.11415, -3.40747 ], "start_rotation": [ 0, 0.89399, 0, 0.44809 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 1.86573, "euclidean_distance": 1.73314, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.18698, 0.11415, -3.08569 ] }, "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", [ "73f8049b6198422aa5f2edfc71fe423b" ], "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A3L8LSM7V7KX3T:3TYCR1GOTEMJKF1FMZVWI9GAJQBZLB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.07839, 0.11415, -9.6738 ], "start_rotation": [ 0, 0.58683, 0, -0.80971 ], "object_category": "counter", "info": { "geodesic_distance": 1.24282, "euclidean_distance": 1.09548, "closest_goal_object_id": 881, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.53412, 0.11415, -8.68395 ] }, "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A2TUUIV61CR0C7:3J88R45B2I1K65GYD90I259JH1BXPA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.44293, 0.11415, -9.59537 ], "start_rotation": [ 0, 0.32016, 0, 0.94736 ], "object_category": "cushion", "info": { "geodesic_distance": 2.14133, "euclidean_distance": 1.92389, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.38558, 0.11415, -9.19088 ] }, "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "4f07d9e99e084876b0765220888d2545", "path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A2O65E9TOSX7GV:3EFE17QCRE8KX7WB0MMQUOQ064GSHH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.21529, 0.11415, 0.12498 ], "start_rotation": [ 0, 0.65016, 0, -0.7598 ], "object_category": "towel", "info": { "geodesic_distance": 14.87397, "euclidean_distance": 13.96039, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.94612, 0.11415, 8.34267 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "e28810ab6e9745f89e3b124320caf5a8", "path": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A19C2SO0IMRZ1L:3IQ1VMJRYVNNI5SYLAC7W7Y64PE9A0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.97909, 0.11415, 4.29661 ], "start_rotation": [ 0, 0.61848, 0, 0.7858 ], "object_category": "toilet", "info": { "geodesic_distance": 7.157, "euclidean_distance": 6.70949, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.01049, 0.11415, 8.86169 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A1P3HHEXWNLJMP:3ON104KXQMZJSCPP5KC8XOKH7C4W4S", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.39334, 3.51415, -2.70388 ], "start_rotation": [ 0, 0.66223, 0, 0.7493 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.14686, "euclidean_distance": 6.12992, "closest_goal_object_id": 4, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.36867, 3.51415, -8.78945 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A3L8LSM7V7KX3T:3TPZPLC3M2F8Q79KTKTUVPKEMZC3PE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.50769, 0.11415, -0.35671 ], "start_rotation": [ 0, 0.999, 0, 0.04468 ], "object_category": "sink", "info": { "geodesic_distance": 8.18341, "euclidean_distance": 7.57365, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.84362, 0.11415, -7.93052 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A2ZZW6KME1FUDU:3PJ71Z61R65ROHFYPRJEL6530RS91O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.51154, 0.11415, 2.39202 ], "start_rotation": [ 0, 0.04712, 0, -0.99889 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.36561, "euclidean_distance": 7.88947, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.49602, 0.11415, -1.24997 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315" ], "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A3HL2LL0LEPZT8:33FOTY3KEOOTMFM11BT5NW6APWX1CK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.05641, 0.11415, 7.58442 ], "start_rotation": [ 0, 0.00715, 0, 0.99997 ], "object_category": "picture", "info": { "geodesic_distance": 2.19881, "euclidean_distance": 2.0293, "closest_goal_object_id": 383, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.98168, 0.11415, 9.37939 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A39EZ7V9T25RZO:35LDD5557C7812KEMAT1V77MTRWKM8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.1448, 3.51415, 8.23138 ], "start_rotation": [ 0, 0.9568, 0, 0.29075 ], "object_category": "fireplace", "info": { "geodesic_distance": 28.25075, "euclidean_distance": 5.84286, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.16641, 0.11415, 3.94387 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A19BDVIRTDE5RQ:3C6FJU71TSWMYFE4ZRLEVP3Q19OUYE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.55448, 0.11415, 1.23636 ], "start_rotation": [ 0, 0.84199, 0, -0.53949 ], "object_category": "fireplace", "info": { "geodesic_distance": 5.32221, "euclidean_distance": 4.69594, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.11547, 0.11415, 5.01198 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3HL2LL0LEPZT8:30IQTZXKAM9HIOCEWOLSN48B23I0X2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.40073, 3.58835, 10.03189 ], "start_rotation": [ 0, 0.53243, 0, -0.84647 ], "object_category": "picture", "info": { "geodesic_distance": 3.85629, "euclidean_distance": 2.28689, "closest_goal_object_id": 308, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.43554, 3.59847, 12.31559 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3E337GFOLBB9HY9V8KNMAU4TRWPNG0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.85495, 1.20343, -2.74474 ], "start_rotation": [ 0, 0.60301, 0, -0.79773 ], "object_category": "stool", "info": { "geodesic_distance": 4.5521, "euclidean_distance": 2.78029, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.2977, 0.11415, -0.12748 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "7cdc2565c773401289b95360da22e017", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "AMYURTQIMAC8T:3RGU30DZTCBDQIEW4PTPUS79R8XMJ1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.01548, -0.00885, -0.03742 ], "start_rotation": [ 0, 0.2504, 0, 0.96814 ], "object_category": "picture", "info": { "geodesic_distance": 4.96098, "euclidean_distance": 4.4434, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.11236, 0.11415, -1.88027 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0d3a3b42009441e2a02200423049d804", "0_edge_58_newN_3", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "0d3a3b42009441e2a02200423049d804", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "AJQGWGESKQT4Y:3WOKGM4L73JUOFYMVXYW4RHIMOA0O4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.17956, 0.03707, -0.63607 ], "start_rotation": [ 0, 0.44601, 0, 0.89503 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.56838, "euclidean_distance": 7.41197, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.04003, 0.11415, -6.09828 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "e28810ab6e9745f89e3b124320caf5a8", "0_edge_36_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "e28810ab6e9745f89e3b124320caf5a8", [ "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "0_edge_36_newN_0", [ "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A1P3HHEXWNLJMP:3QEMNNSB2Z2H2T7HQN5P8CF6U4GD7R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.90853, 3.61179, -7.77142 ], "start_rotation": [ 0, 0.95403, 0, -0.29971 ], "object_category": "fireplace", "info": { "geodesic_distance": 20.45037, "euclidean_distance": 12.41426, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.14616, 0.11415, 3.84665 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A29CNQYJWMJ7G9:333U7HK6IBIAMO8JRWUMB2KF5PSJDG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.58271, 0.11415, 10.85553 ], "start_rotation": [ 0, 0.47272, 0, 0.88121 ], "object_category": "seating", "info": { "geodesic_distance": 8.42802, "euclidean_distance": 7.19525, "closest_goal_object_id": 920, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.30247, 0.11415, 7.46844 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "4e796cd1c4594f9fb07bf8b48edf2dc2", "path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_84_newN_0", "0_edge_135_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "0_edge_84_newN_0", "0_edge_135_newN_0", "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", [ "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1" ], "0_edge_84_newN_0", "0_edge_135_newN_0", [ "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8" ] ] }, { "episode_id": "A2J6S7QR4CGXTW:3LOTDFNYA92TQSMEP18ROSH8Z6SFWP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.69906, 0.11415, 9.59793 ], "start_rotation": [ 0, 0.97013, 0, 0.24257 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.96493, "euclidean_distance": 11.25309, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.05029, 0.11415, -0.22053 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_93_newN_1", "path": [ "0_edge_93_newN_1", "0_edge_84_newN_0", "10_edge_156_newN_0", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_93_newN_1", "0_edge_84_newN_0", "10_edge_156_newN_0", "0_edge_84_newN_0", "10_edge_156_newN_0", "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "0_edge_93_newN_1", "0_edge_84_newN_0", "10_edge_156_newN_0", [ "0_edge_84_newN_0", "0_edge_93_newN_1" ], "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A2O65E9TOSX7GV:336KAV9KYSVDE352G7B8P68ZYDVY2Y", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.07082, -0.08585, -11.70026 ], "start_rotation": [ 0, 0.53497, 0, 0.84487 ], "object_category": "cushion", "info": { "geodesic_distance": 5.63115, "euclidean_distance": 4.91257, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.27359, 0.11415, -9.16894 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "A2FUNB3BUB3U07:336KAV9KYSVDE352G7B8P68Z1CJ2YR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.20465, 3.51415, 7.92681 ], "start_rotation": [ 0, 0.33625, 0, 0.94177 ], "object_category": "stool", "info": { "geodesic_distance": 4.96211, "euclidean_distance": 4.35229, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.39482, 3.51415, 11.23886 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A2TUUIV61CR0C7:352YTHGROXG1VMU0ALQ8WLAUSOJH45", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.47275, 0.11415, 8.10114 ], "start_rotation": [ 0, 0.82591, 0, -0.56381 ], "object_category": "counter", "info": { "geodesic_distance": 7.10543, "euclidean_distance": 6.11408, "closest_goal_object_id": 418, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.40203, 0.11415, 11.54241 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "1eae38cbbaf744f99de90c99d8c013f1", "path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A9K0CV70JWG1W:3EFVCAY5L5CY5TCSAOJ6PA6EA2RJ8U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.9721, 0.11415, -0.91133 ], "start_rotation": [ 0, 0.7564, 0, 0.65411 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.07292, "euclidean_distance": 5.70708, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.08086, 0.11415, -6.14292 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "AAX9LTAOIBECD:3XXU1SWE8OY5MB4LLETE3WXD1H6A03", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.37011, 0.11415, 0.90739 ], "start_rotation": [ 0, 0.68087, 0, -0.73241 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.90494, "euclidean_distance": 6.35938, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.7117, 0.11415, 6.88102 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A1A6UVH1CCP8CD:3HVVDCPGTGV7Y2ZFZMV4QTHP1ORTY3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.789, 0.11415, -4.25549 ], "start_rotation": [ 0, 0.9373, 0, -0.34852 ], "object_category": "stool", "info": { "geodesic_distance": 4.7242, "euclidean_distance": 4.30473, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.21455, 0.11415, -0.24615 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:3LO69W1SU5GJTY6AW777X204M6ILGZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.5582, 2.88875, -4.06014 ], "start_rotation": [ 0, 0.4254, 0, -0.90501 ], "object_category": "seating", "info": { "geodesic_distance": 10.53532, "euclidean_distance": 7.20795, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.83999, 0.11415, 0.69745 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "b12981cba2ba4525b377ef503d92b843", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a" ], "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A19C2SO0IMRZ1L:3S3AMIZX3W8NEA2DH4D0OY7KSHTDC7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.40213, 0.11415, 9.2855 ], "start_rotation": [ 0, 0.89723, 0, -0.44156 ], "object_category": "cushion", "info": { "geodesic_distance": 3.71461, "euclidean_distance": 3.33687, "closest_goal_object_id": 543, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.67912, 0.11415, 8.74291 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "0_edge_39_newN_1", "path": [ "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "AZPZDX26SYMFY:304SM51WA57A6UTP0UCU8DN2EX4BSS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.15634, 3.51415, -6.50325 ], "start_rotation": [ 0, 0.60805, 0, -0.7939 ], "object_category": "sofa", "info": { "geodesic_distance": 18.43015, "euclidean_distance": 8.06297, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.10223, 0.11415, 0.09062 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0" ] }, { "episode_id": "A2R0YYUAWNT7UD:37QW5D2ZRIPR4WVIXISKHBX13TMS8E", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.35344, 1.91415, -2.86845 ], "start_rotation": [ 0, 0.79429, 0, -0.60754 ], "object_category": "table", "info": { "geodesic_distance": 4.50256, "euclidean_distance": 3.91486, "closest_goal_object_id": 678, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.25506, 0.11415, -1.29265 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", [ "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A31BA1WLSWUSY1:38F5OAUN5PFYE9CJCJOFZXU46I1H7O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.28826, -0.08585, -12.16543 ], "start_rotation": [ 0, 0.70768, 0, 0.70653 ], "object_category": "stool", "info": { "geodesic_distance": 14.05907, "euclidean_distance": 12.9529, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.35744, 0.11415, -0.1302 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A2AAY4VT9L71SY:36NEMU28XHGZW2EVBOC4JI1HW9PWM2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.25623, 3.51415, -2.69686 ], "start_rotation": [ 0, 0.52529, 0, 0.85092 ], "object_category": "fireplace", "info": { "geodesic_distance": 14.73322, "euclidean_distance": 7.68022, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.08335, 0.11415, 3.86391 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "18ea875fed1b4dc99363420c08cb4300", "path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "148a81e548314c67b6f5f226601a27de", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A2TUUIV61CR0C7:3SEPORI8WP22OWABP8669V0Y2C1ZAP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.08929, 3.51415, -4.59272 ], "start_rotation": [ 0, 1, 0, 0.0003 ], "object_category": "toilet", "info": { "geodesic_distance": 8.89613, "euclidean_distance": 2.11787, "closest_goal_object_id": 50, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.19034, 3.51415, -5.53586 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "29f8bc9c86e94a3692ec50fbad2e7204", "path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "AQ0YWEW29GSIJ:3YMTUJH0DUJR0VLVAF7XA4DHP654TP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.634, 3.51415, 12.48203 ], "start_rotation": [ 0, 0.33062, 0, -0.94376 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.52747, "euclidean_distance": 8.71222, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.42013, 3.51415, 9.30041 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A1S0N5BIXAQO8I:3BDCF01OGZXJFPRAQDTD4277QUBLYH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.12129, 3.51415, 7.64572 ], "start_rotation": [ 0, 0.45423, 0, -0.89089 ], "object_category": "bed", "info": { "geodesic_distance": 4.29433, "euclidean_distance": 3.05698, "closest_goal_object_id": 284, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.88587, 3.51415, 9.84767 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ] }, { "episode_id": "A26LOVXF4QZZCO:39RP059MEJW78ZGKGXG8W4OW6U7BMT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.87381, 3.51415, -2.61504 ], "start_rotation": [ 0, 0.2957, 0, -0.95528 ], "object_category": "table", "info": { "geodesic_distance": 8.52439, "euclidean_distance": 6.25001, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.50348, 3.51415, 3.06993 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "AD1ILDUXZHASF:3ZOTGHDK5KEUPOIY4ZHGEXN1LQ4SOI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.79029, 3.51415, 3.34047 ], "start_rotation": [ 0, 0.99861, 0, 0.05276 ], "object_category": "counter", "info": { "geodesic_distance": 15.3175, "euclidean_distance": 13.47286, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.18315, 3.51415, -8.99829 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A3GWRDHAURRNK6:3KIBXJ1WD7XW155QZQ8ENBWQLXVKOE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.82541, 3.51415, 8.20891 ], "start_rotation": [ 0, 0.67315, 0, 0.73951 ], "object_category": "chair", "info": { "geodesic_distance": 3.53659, "euclidean_distance": 3.10601, "closest_goal_object_id": 130, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.76012, 3.51415, 5.18777 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ] ] }, { "episode_id": "A3T5UAYFKJBVTA:3LOZAJ85YFGOEYFSBBP66S1PIOF2XS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.11962, -0.08585, 0.65482 ], "start_rotation": [ 0, 0.98535, 0, 0.17056 ], "object_category": "chair", "info": { "geodesic_distance": 4.67546, "euclidean_distance": 3.99677, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.81027, 0.11415, -0.84125 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] }, { "episode_id": "A2TUUIV61CR0C7:35H6S234SC33UGEJS7IE4MRIJ7G65I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.84134, -0.08585, -11.4243 ], "start_rotation": [ 0, 0.17926, 0, 0.9838 ], "object_category": "counter", "info": { "geodesic_distance": 4.08426, "euclidean_distance": 3.79867, "closest_goal_object_id": 881, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.43705, 0.11415, -8.53131 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A1ZE52NWZPN85P:3JW0YLFXRVJV1E89FQIRSG37DKCWW1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.91095, 0.11415, 9.57919 ], "start_rotation": [ 0, 0.28833, 0, -0.95753 ], "object_category": "shower", "info": { "geodesic_distance": 23.96254, "euclidean_distance": 18.51512, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.22495, 3.51415, -8.64425 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A1NLDZ3T0S2CX:39ASUFLU6ZAG9ER84VK78TAFTG3EXY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.36987, 3.51415, -8.98805 ], "start_rotation": [ 0, 0.39809, 0, -0.91735 ], "object_category": "sofa", "info": { "geodesic_distance": 16.43798, "euclidean_distance": 9.91929, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.05066, 0.11415, 0.21973 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", [ "810702d87ddc4964a583f8b7a3b9c43c" ], "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A3KC26Z78FBOJT:37QW5D2ZRIPR4WVIXISKHBX0NG0S8K", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.72292, 0.11415, 5.17907 ], "start_rotation": [ 0, 0.06477, 0, -0.9979 ], "object_category": "towel", "info": { "geodesic_distance": 6.20079, "euclidean_distance": 5.73718, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.94679, 0.11415, 8.33597 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A3KC26Z78FBOJT:3H0W84IWBM5WCI5WVWEFJBOQCY2ER2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.39998, 0.11415, 0.27552 ], "start_rotation": [ 0, 0.4229, 0, -0.90618 ], "object_category": "fireplace", "info": { "geodesic_distance": 4.84782, "euclidean_distance": 3.66822, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.18445, 0.11415, 3.97459 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0_edge_58_newN_2", "path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0" ], "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", [ "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:36AHBNMV1TF0HD3IDWVPLPZ3VZVYD8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.63115, 3.64598, 10.00269 ], "start_rotation": [ 0, 0.10233, 0, 0.99475 ], "object_category": "picture", "info": { "geodesic_distance": 4.09365, "euclidean_distance": 2.32919, "closest_goal_object_id": 308, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.43586, 3.59803, 12.29805 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A33VGSEJ44ORMF:3KYQYYSHYXAONZZG79MRJY11KR5DOS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.58648, 3.51415, -3.37587 ], "start_rotation": [ 0, 0.50101, 0, -0.86544 ], "object_category": "bed", "info": { "geodesic_distance": 9.22053, "euclidean_distance": 7.53791, "closest_goal_object_id": 79, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.33742, 3.51415, -6.59793 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A3RPTW3IGJHBNQ:3SPJ0334236DKZ3ANSH0ONUG3LZYJ0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.99017, 3.51415, -5.19356 ], "start_rotation": [ 0, 0.93312, 0, 0.35955 ], "object_category": "bed", "info": { "geodesic_distance": 7.14409, "euclidean_distance": 6.74215, "closest_goal_object_id": 79, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.70418, 3.51415, -8.67648 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "71859791901b45939806508a364adf17", "path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A16K7X677N4WN6:3TEM0PF1Q703KI7X5OKGTX5JMPHD0W", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.34189, 3.51415, -2.70151 ], "start_rotation": [ 0, 0.94732, 0, 0.32029 ], "object_category": "table", "info": { "geodesic_distance": 6.25574, "euclidean_distance": 5.7894, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.48566, 3.51415, 3.13979 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A19C2SO0IMRZ1L:3TE3O85732B4H2TG2CJEHAF2VRW2RI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.91717, 3.51415, -3.89777 ], "start_rotation": [ 0, 0.99044, 0, 0.13797 ], "object_category": "table", "info": { "geodesic_distance": 13.67342, "euclidean_distance": 9.53099, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.54526, 3.51415, 3.07739 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "fec0a4503f7d4cee8f491934eff0d498", "path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A2TUUIV61CR0C7:33LKR6A5KGNA8WOCNXOVC66EDM21TG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.34895, 3.51415, 6.45609 ], "start_rotation": [ 0, 0.99128, 0, 0.13175 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.05834, "euclidean_distance": 3.44207, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.45708, 3.51415, 9.30319 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "148a81e548314c67b6f5f226601a27de", "path": [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "refined_path": [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ] }, { "episode_id": "A3V8LIMUUJWUTL:3J4Q2Z4UT06QHHCN3HJL0RLMQZVQWQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.3105, 3.51415, -6.19982 ], "start_rotation": [ 0, 0.46793, 0, -0.88376 ], "object_category": "sofa", "info": { "geodesic_distance": 12.40433, "euclidean_distance": 7.20614, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.14393, 0.11415, 0.22297 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "31ae672c4fda4ce29add4798d07ce3b1", "path": [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "refined_path": [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3" ] }, { "episode_id": "A3GWRDHAURRNK6:3R9WASFE21JXKNRJ0OSYNWBQDHSFZQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.38949, 0.11415, -4.28122 ], "start_rotation": [ 0, 0.46332, 0, -0.88619 ], "object_category": "plant", "info": { "geodesic_distance": 7.32816, "euclidean_distance": 5.58199, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.56268, 0.11415, -0.56815 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3DY46V3X3RL7BCE5NO89CGDINHD55J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.42488, 3.51415, 6.86592 ], "start_rotation": [ 0, 0.97378, 0, -0.2275 ], "object_category": "chair", "info": { "geodesic_distance": 4.45218, "euclidean_distance": 4.22343, "closest_goal_object_id": 299, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.71457, 3.51415, 11.03636 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "148a81e548314c67b6f5f226601a27de", "path": [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "refined_path": [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ] }, { "episode_id": "A75XDPFNICR3T:3GM6G9ZBKP074LA1GJ7TWYUISDIMT9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.20311, 0.11415, 11.82485 ], "start_rotation": [ 0, 0.21588, 0, -0.97642 ], "object_category": "bed", "info": { "geodesic_distance": 21.29633, "euclidean_distance": 19.80565, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.00379, 0.11415, -8.05738 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "4e796cd1c4594f9fb07bf8b48edf2dc2", "path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "refined_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ] }, { "episode_id": "AIIOT9A7ARQZW:3FK0YFF9P1J5708ZZ68ZKC1GGN5VV2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.21286, 0.11415, 8.05904 ], "start_rotation": [ 0, 0.98239, 0, 0.18685 ], "object_category": "shower", "info": { "geodesic_distance": 24.83344, "euclidean_distance": 18.38561, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.22713, 3.51415, -8.61749 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8" ], "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A3O5RKGH6VB19C:3H7Z272LX9AP6BZ9ZQXURBEW07DPLC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.70813, 3.60757, -6.71846 ], "start_rotation": [ 0, 0.99978, 0, 0.02093 ], "object_category": "chair", "info": { "geodesic_distance": 3.66287, "euclidean_distance": 3.04274, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.44606, 3.51415, -8.18768 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A36QGCT3MMXC4Q:3FTYUGLFSWO2FPTY2UQSAS1A3S9D5O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.81381, 3.51415, 5.27204 ], "start_rotation": [ 0, 0.37803, 0, 0.92579 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.59892, "euclidean_distance": 6.15195, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.33511, 3.51415, 8.16593 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A5WWHKD82I8UE:37KGEN7NJ5TFXWE7RIQ18SNG8FNPPI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.27469, 0.11415, -2.76399 ], "start_rotation": [ 0, 0.44392, 0, -0.89606 ], "object_category": "stool", "info": { "geodesic_distance": 5.13342, "euclidean_distance": 3.97009, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.21222, 0.11415, -0.17915 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A3GWRDHAURRNK6:3IKZ72A5B6J33YD0X0H4S94HQIMFNS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.95909, 0.11415, -3.76391 ], "start_rotation": [ 0, 0.89365, 0, 0.44876 ], "object_category": "plant", "info": { "geodesic_distance": 8.58617, "euclidean_distance": 7.32312, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.57432, 0.11415, -0.57066 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3E1QT0TDFRC2AISMS6Y6D9REXSKI89", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.4373, 3.51415, -5.57397 ], "start_rotation": [ 0, 0.51457, 0, -0.85745 ], "object_category": "plant", "info": { "geodesic_distance": 18.25541, "euclidean_distance": 10.16623, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.13635, 3.51415, 4.42791 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A75XDPFNICR3T:3ZSY5X72NZEIO9ILPAHBONI5WOHORJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.0092, 0.11415, -3.78457 ], "start_rotation": [ 0, 0.56671, 0, 0.82392 ], "object_category": "counter", "info": { "geodesic_distance": 5.866, "euclidean_distance": 4.93668, "closest_goal_object_id": 881, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.455, 0.11415, -7.35247 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A3RR85PK3AV9TU:3BXQMRHWK11M4YPQGOX31UGKBO9MUE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.95208, 0.11415, 7.11459 ], "start_rotation": [ 0, 0.87114, 0, -0.49104 ], "object_category": "picture", "info": { "geodesic_distance": 2.50907, "euclidean_distance": 2.38018, "closest_goal_object_id": 605, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.28153, 0.11415, 7.2877 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A3T5UAYFKJBVTA:3EICBYG646Z0HW25R0ZBRW2X0X0CJP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.80371, 3.51415, -2.35123 ], "start_rotation": [ 0, 0.99915, 0, -0.04132 ], "object_category": "cushion", "info": { "geodesic_distance": 7.03469, "euclidean_distance": 5.25446, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.28195, 3.51415, 1.54096 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3GM6G9ZBKP074LA1GJ7TWYUHBOMTMN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.87518, 0.11415, 0.22435 ], "start_rotation": [ 0, 0.55684, 0, 0.83062 ], "object_category": "bathtub", "info": { "geodesic_distance": 3.48838, "euclidean_distance": 3.17717, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.82327, 0.11415, -1.02203 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0_edge_133_newN_0", "path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AJQGWGESKQT4Y:392CY0QWG3U1RH5KG38TWXB9S1UI4V", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.80231, 0.11415, -3.78689 ], "start_rotation": [ 0, 0.07001, 0, -0.99755 ], "object_category": "towel", "info": { "geodesic_distance": 10.2057, "euclidean_distance": 5.45185, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.16637, 0.11415, -4.53119 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "7cdc2565c773401289b95360da22e017", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ] }, { "episode_id": "AZPZDX26SYMFY:3Z7VU45IP0K6U8XBTPDDYU7WCVQZ12", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.53704, 0.11415, 10.65568 ], "start_rotation": [ 0, 0.70897, 0, 0.70524 ], "object_category": "picture", "info": { "geodesic_distance": 2.96458, "euclidean_distance": 2.95826, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.09757, 0.11415, 7.74046 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_0" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6" ], "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A1R0689JPSQ3OF:3IKZ72A5B6J33YD0X0H4S94GNV2FNT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.6706, 3.51415, 1.19485 ], "start_rotation": [ 0, 0.32995, 0, 0.944 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.40193, "euclidean_distance": 6.4613, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.83214, 3.51415, -5.00906 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3CFVK00FWNOHW5H4KUYLLBNERKTL6S", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.14762, 3.51415, -2.98447 ], "start_rotation": [ 0, 0.49047, 0, 0.87146 ], "object_category": "chair", "info": { "geodesic_distance": 3.86923, "euclidean_distance": 3.67236, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.86441, 3.51415, -6.1184 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A1RQLE4ZMTU22A:3S06PH7KST73R7SF17OG72OSANCD1H", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.65759, 3.51415, -6.385 ], "start_rotation": [ 0, 1, 0, -0.00313 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.76322, "euclidean_distance": 4.13686, "closest_goal_object_id": 10, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.27809, 3.51415, -8.52898 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3BEFOD78W8WNN0VB1I6LOQIQCERM43", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.34717, -0.08585, -12.19993 ], "start_rotation": [ 0, 0.38975, 0, -0.92092 ], "object_category": "chair", "info": { "geodesic_distance": 3.19405, "euclidean_distance": 2.78663, "closest_goal_object_id": 833, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.6905, 0.11415, -9.65991 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A1R0689JPSQ3OF:3K5TEWLKGXE0LUOZ0Z9G5NBLR0FVIM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.2819, 0.11415, 8.44516 ], "start_rotation": [ 0, 0.99698, 0, 0.07765 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.64771, "euclidean_distance": 9.68506, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.7707, 0.11415, -1.15862 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A3T5UAYFKJBVTA:386PBUZZXH0TK0WB4DSAUFSJDQTJLC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.72966, -0.08585, 1.08081 ], "start_rotation": [ 0, 0.17247, 0, -0.98501 ], "object_category": "chair", "info": { "geodesic_distance": 4.1654, "euclidean_distance": 3.66701, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.86299, 0.11415, -0.8422 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3" ] }, { "episode_id": "AIOOOO5OXWXKM:30ZX6P7VFAYNJEA3U7A5FJTA5F4J21", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.40784, 0.11415, -4.806 ], "start_rotation": [ 0, 0.91461, 0, 0.40434 ], "object_category": "sofa", "info": { "geodesic_distance": 14.46334, "euclidean_distance": 5.43532, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.22149, 0.11415, 0.21334 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0" ], "refined_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0" ] }, { "episode_id": "AIOOOO5OXWXKM:3S0TNUHWKVLL27C00SXVMCB15NR8DC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.91345, 0.10771, 0.48295 ], "start_rotation": [ 0, 0.16653, 0, -0.98604 ], "object_category": "table", "info": { "geodesic_distance": 3.64728, "euclidean_distance": 3.24685, "closest_goal_object_id": 599, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.11178, 0.11415, 2.88732 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b" ] }, { "episode_id": "AKYXQY5IP7S0Z:3180JW2OT6FFIBTQCQC3DQWN5QSJ5J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.84326, 3.51415, -6.17402 ], "start_rotation": [ 0, 0.83947, 0, -0.54341 ], "object_category": "seating", "info": { "geodesic_distance": 15.25399, "euclidean_distance": 9.69324, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.76882, 0.11415, 0.7078 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A3L8LSM7V7KX3T:37M28K1J0SGCOH577M3KL1C8HMBAJG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.79619, 0.11415, -0.18377 ], "start_rotation": [ 0, 0.11089, 0, -0.99383 ], "object_category": "counter", "info": { "geodesic_distance": 8.33813, "euclidean_distance": 7.57186, "closest_goal_object_id": 881, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.4958, 0.11415, -7.42161 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0_edge_58_newN_2", "path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A2TUUIV61CR0C7:340UGXU9D045ULJZUGYUOQZX2GVVUC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.70115, 0.11415, -0.60364 ], "start_rotation": [ 0, 0.08004, 0, -0.99679 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.45458, "euclidean_distance": 6.09371, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.07963, 0.11415, -6.21224 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "AKYXQY5IP7S0Z:37C0GNLMHH6YYTTC7D0X2YFAW176D9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.78657, 0.11415, -4.42028 ], "start_rotation": [ 0, 0.94356, 0, 0.3312 ], "object_category": "seating", "info": { "geodesic_distance": 8.23701, "euclidean_distance": 5.20829, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.02795, 0.11415, 0.6397 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A2O65E9TOSX7GV:3R3YRB5GRH6L2XG1JL7YS3LKE7FAUA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.08388, -0.0465, -0.84176 ], "start_rotation": [ 0, 0.43516, 0, 0.90035 ], "object_category": "picture", "info": { "geodesic_distance": 6.12161, "euclidean_distance": 5.08945, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.10238, 0.11415, -1.69964 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:384PI804XU49M7QF2EF5OWRJK2S0SV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.30673, 3.51415, -5.35751 ], "start_rotation": [ 0, 0.26584, 0, 0.96402 ], "object_category": "seating", "info": { "geodesic_distance": 22.54574, "euclidean_distance": 6.94551, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.89227, 0.11415, 0.78733 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "71859791901b45939806508a364adf17", "path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "12a0b0641a9a4794bb49bbcf13cea981", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "4ed46372db6849e28e1ed9ada35efeac", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_1", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_93_newN_1", "0_edge_84_newN_0", "10_edge_156_newN_0", "deb99671679648e28ccf7d622051ab46", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "0_edge_84_newN_0", "10_edge_156_newN_0", "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", [ "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c" ], "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204" ], "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be" ], "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c" ], "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459" ], "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", [ "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "0_edge_93_newN_1", "0_edge_84_newN_0", "10_edge_156_newN_0", [ "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6" ], "deb99671679648e28ccf7d622051ab46", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A3K1P4SPR8XS7R:3JMSRU9HQKXO5PMD4GJPK8DUDYKVEN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.44528, 3.51415, 0.57743 ], "start_rotation": [ 0, 0.70614, 0, -0.70807 ], "object_category": "bed", "info": { "geodesic_distance": 8.09653, "euclidean_distance": 7.54566, "closest_goal_object_id": 79, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.32652, 3.51415, -6.58112 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ] }, { "episode_id": "A3PFU4042GIQLE:3HYA4D452TM7ECO7BHJK0L1ICWJF22", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.94259, 0.11415, 7.63098 ], "start_rotation": [ 0, 0.55466, 0, 0.83208 ], "object_category": "toilet", "info": { "geodesic_distance": 3.58203, "euclidean_distance": 3.13874, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.02533, 0.11415, 8.91556 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "AD1ILDUXZHASF:3KV0LJBBH4OUO6X9CU2YWJT04PPRMZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.99464, 0.11415, 8.52218 ], "start_rotation": [ 0, 0.94903, 0, -0.31519 ], "object_category": "sink", "info": { "geodesic_distance": 5.23791, "euclidean_distance": 4.88863, "closest_goal_object_id": 460, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.41691, 0.11415, 11.86307 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3QECW5O0KJ49WEPVOKQ7FWJW6EGT56", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.06028, 3.51415, -6.0485 ], "start_rotation": [ 0, 0.75337, 0, -0.6576 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.16575, "euclidean_distance": 3.87244, "closest_goal_object_id": 10, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.18983, 3.51415, -8.6003 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A2OFN0A5CPLH57:3R8YZBNQ9JLBR2BMV9B98BM5AE67QE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.54585, 3.51415, -5.3447 ], "start_rotation": [ 0, 0.73055, 0, -0.68286 ], "object_category": "toilet", "info": { "geodesic_distance": 9.36155, "euclidean_distance": 6.32435, "closest_goal_object_id": 50, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.19895, 3.51415, -5.70783 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "834865d0e74042d38b796ded2488d64c", "path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A272X64FOZFYLB:308XBLVESK7Y5FTCL5CPI3I6PVURBQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.02693, 3.51415, -6.32221 ], "start_rotation": [ 0, 0.93722, 0, 0.34873 ], "object_category": "bed", "info": { "geodesic_distance": 4.68517, "euclidean_distance": 4.41484, "closest_goal_object_id": 79, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.74181, 3.51415, -8.67325 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "AKYXQY5IP7S0Z:3TK8OJTYM3OS2GB3DUZ0EKCXB5UPVS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.48644, 3.51415, 2.90232 ], "start_rotation": [ 0, 0.87213, 0, -0.48927 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.1012, "euclidean_distance": 7.11434, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.413, 3.51415, 9.28591 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", [ "810702d87ddc4964a583f8b7a3b9c43c" ], "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A2TUUIV61CR0C7:3180JW2OT6FFIBTQCQC3DQWN5DZ5JM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.53722, 0.11415, -0.38125 ], "start_rotation": [ 0, 0.92504, 0, 0.37988 ], "object_category": "sink", "info": { "geodesic_distance": 8.13642, "euclidean_distance": 7.76243, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.71886, 0.11415, -7.98653 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_133_newN_0", "path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A3T5UAYFKJBVTA:31Q0U3WYDRINAYR5AULU7AEX27B71Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.89421, 3.51415, -5.14077 ], "start_rotation": [ 0, 0.42133, 0, -0.90691 ], "object_category": "chair", "info": { "geodesic_distance": 6.08124, "euclidean_distance": 5.415, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.44263, 3.51415, -8.24362 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A3T5UAYFKJBVTA:3FTF2T8WLTLKPIV1MF8ZEWVWFOUW9O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.03707, 3.51415, -7.60688 ], "start_rotation": [ 0, 0.53447, 0, -0.84519 ], "object_category": "counter", "info": { "geodesic_distance": 6.21253, "euclidean_distance": 4.26579, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.02422, 3.51415, -9.05054 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981" ], "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "AOMFEAWQHU3D8:3A0EX8ZRNAR72G5YZ04JQZB3SC5YBJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.39317, 0.11415, -4.87732 ], "start_rotation": [ 0, 0.84682, 0, -0.53188 ], "object_category": "towel", "info": { "geodesic_distance": 2.32139, "euclidean_distance": 1.83672, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.1079, 0.11415, -4.47175 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dd735554f3c94e0bb22097e78d0209e8" ], "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "AIOOOO5OXWXKM:3CCZ6YKWR9MQCZGHQELQOWIK97F95L", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.4528, 3.51415, 12.66422 ], "start_rotation": [ 0, 0.9588, 0, -0.28409 ], "object_category": "bathtub", "info": { "geodesic_distance": 15.95804, "euclidean_distance": 11.98478, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.30388, 3.51415, 8.20177 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "AQ0YWEW29GSIJ:3KJYX6QCMBEWG585IHUGHOQL4O0JV0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.64572, 0.11415, 10.35987 ], "start_rotation": [ 0, 0.35813, 0, 0.93367 ], "object_category": "bed", "info": { "geodesic_distance": 19.76656, "euclidean_distance": 18.64209, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.13238, 0.11415, -7.97552 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_39_newN_1", "path": [ "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A2TUUIV61CR0C7:3IXQG4FA2V1S1FXQROC3RIICM3H9B5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.74406, 0.11415, -0.15301 ], "start_rotation": [ 0, 0.95571, 0, 0.29432 ], "object_category": "shower", "info": { "geodesic_distance": 15.10877, "euclidean_distance": 9.14201, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.28825, 3.51415, -8.55846 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_58_newN_2", "path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3J88R45B2I1K65GYD90I259JAAIPXK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.38853, 3.51415, 7.88375 ], "start_rotation": [ 0, 0.92374, 0, -0.38301 ], "object_category": "shower", "info": { "geodesic_distance": 5.34459, "euclidean_distance": 4.63346, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.13526, 3.51415, 6.25713 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_125_newN_2", "path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A2L26DMSVUEDP6:3MAOD8E57SDK3K4LXUNQYG4NT9UXNI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.77743, 3.51415, -8.03211 ], "start_rotation": [ 0, 0.88256, 0, 0.47021 ], "object_category": "shower", "info": { "geodesic_distance": 5.99326, "euclidean_distance": 3.57315, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.16339, 3.51415, -8.68109 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c" ], "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3TPZPLC3M2F8Q79KTKTUVPKFNAN3PE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.72046, 3.51415, -3.73333 ], "start_rotation": [ 0, 0.74971, 0, -0.66177 ], "object_category": "sofa", "info": { "geodesic_distance": 10.57855, "euclidean_distance": 5.36607, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.11114, 0.11415, 0.181 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3JWH6J9I9UGDQH1KSYV89JDVAHJBNM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.86916, 0.11415, 9.21276 ], "start_rotation": [ 0, 0.54142, 0, -0.84075 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.05714, "euclidean_distance": 9.70106, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.15578, 0.11415, -0.06063 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A36QGCT3MMXC4Q:3V0Z7YWSI03WA9AXBWOOI745JT72V4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.07211, 3.63175, -7.81173 ], "start_rotation": [ 0, 0.74029, 0, -0.67228 ], "object_category": "chair", "info": { "geodesic_distance": 3.60329, "euclidean_distance": 3.32354, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.40753, 3.51415, -8.30564 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A2Q6L9LKSNU7EB:39GXDJN2OVH7WOCMRDXPSYH7O828VR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.33797, 3.51415, 7.02217 ], "start_rotation": [ 0, 0.55006, 0, 0.83512 ], "object_category": "counter", "info": { "geodesic_distance": 17.12155, "euclidean_distance": 16.09661, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.05508, 3.51415, -9.13506 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "416df61743e24e828609f0698df3f51b", "path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A19C2SO0IMRZ1L:35USIKEBNTJ7K5KPW7E0Y3R4A4S6N8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.05126, 1.38871, -2.30925 ], "start_rotation": [ 0, 0.64799, 0, -0.76165 ], "object_category": "fireplace", "info": { "geodesic_distance": 8.94576, "euclidean_distance": 6.37139, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.18328, 0.11415, 3.94078 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ] }, { "episode_id": "A3K1P4SPR8XS7R:3YW4XOSQKSOP8931N2E5H2SHAKR1U9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.50542, 3.51415, 3.3742 ], "start_rotation": [ 0, 0.85678, 0, -0.51568 ], "object_category": "stool", "info": { "geodesic_distance": 13.06481, "euclidean_distance": 11.37349, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.99733, 3.51415, -5.8568 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c" ], "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A1S0N5BIXAQO8I:3K2755HG5U6UHMMN8631W4SMBAGFDV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.78651, 3.51415, 7.49503 ], "start_rotation": [ 0, 0.33652, 0, 0.94168 ], "object_category": "bed", "info": { "geodesic_distance": 4.0474, "euclidean_distance": 2.94314, "closest_goal_object_id": 284, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.78349, 3.51415, 9.77622 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ] }, { "episode_id": "A2TUUIV61CR0C7:3EJJQNKU9T88WSWYLXML4EL4N2VHRJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.87607, 3.51415, 8.08064 ], "start_rotation": [ 0, 0.95666, 0, 0.29121 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.36545, "euclidean_distance": 4.51427, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.25495, 3.51415, 8.09219 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0f42320ef887416fb8ed9b91b6641cfc", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "APGX2WZ59OWDN:3EJJQNKU9T88WSWYLXML4EL36HDRHM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.16394, 0.11415, 0.20902 ], "start_rotation": [ 0, 0.35473, 0, 0.93497 ], "object_category": "bathtub", "info": { "geodesic_distance": 4.1989, "euclidean_distance": 3.82819, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.79731, 0.11415, -1.07321 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AOMFEAWQHU3D8:3FPRZHYEP0ALVR6GFW2T1H9W68K3VA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.43606, 0.11415, 2.22217 ], "start_rotation": [ 0, 0.92787, 0, -0.37289 ], "object_category": "bed", "info": { "geodesic_distance": 11.97871, "euclidean_distance": 11.19711, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.94492, 0.11415, -7.93192 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A2L26DMSVUEDP6:39K0FND3AJI2PPBSAJGC1T4Q0ADAMW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.98022, 0.11415, 8.18659 ], "start_rotation": [ 0, 0.99971, 0, 0.02409 ], "object_category": "bathtub", "info": { "geodesic_distance": 13.14028, "euclidean_distance": 12.23243, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.0758, 0.11415, -1.00823 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "7cdc2565c773401289b95360da22e017", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A28HB7240OFGEW:3VP0C6EFSIZ12NZPK6Z0LO2453AM6U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.02048, 0.11415, -0.30484 ], "start_rotation": [ 0, 0.14156, 0, -0.98993 ], "object_category": "toilet", "info": { "geodesic_distance": 11.40489, "euclidean_distance": 9.97721, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.93156, 0.11415, 8.87162 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A9K0CV70JWG1W:3PWWM24LHU1YZXEK33DEQTKX5RU82I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.87283, -0.08585, 0.29222 ], "start_rotation": [ 0, 0.01423, 0, -0.9999 ], "object_category": "towel", "info": { "geodesic_distance": 13.53413, "euclidean_distance": 8.17753, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.91801, 0.11415, 8.32953 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A17OSPGV41FZ7P:35BLDD71I80MGKD903X25IEBNM4ZVS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.83818, 3.51415, 9.684 ], "start_rotation": [ 0, 0.40849, 0, 0.91276 ], "object_category": "toilet", "info": { "geodesic_distance": 5.72559, "euclidean_distance": 5.01723, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.17336, 3.51415, 6.3273 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] ] }, { "episode_id": "A2R0YYUAWNT7UD:3EKVH9QME07AGSABKBOUCLYYG95D2P", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.73663, 3.51415, 9.64974 ], "start_rotation": [ 0, 0.42889, 0, 0.90336 ], "object_category": "shower", "info": { "geodesic_distance": 3.71579, "euclidean_distance": 3.36686, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.09386, 3.51415, 6.31273 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A1ZE52NWZPN85P:3Z7EFSHGNBH1CG7U84ECI5ABS39CX2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.20377, 3.51415, 0.4417 ], "start_rotation": [ 0, 0.97537, 0, -0.22056 ], "object_category": "sofa", "info": { "geodesic_distance": 13.71984, "euclidean_distance": 3.54963, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.12411, 0.11415, 0.18387 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "AKYXQY5IP7S0Z:3WJ1OXY92CJN409OGI6TWB3VHSTA8O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.12969, 3.51415, 6.87043 ], "start_rotation": [ 0, 0.92244, 0, -0.38614 ], "object_category": "seating", "info": { "geodesic_distance": 23.61271, "euclidean_distance": 8.80485, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.83056, 0.11415, 0.68824 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_125_newN_2", "path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A2TUUIV61CR0C7:3WR9XG3T65E42XOOXC4W58LZ00047H", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.31549, 0.11415, 8.25032 ], "start_rotation": [ 0, 0.98051, 0, 0.19647 ], "object_category": "bathtub", "info": { "geodesic_distance": 15.62268, "euclidean_distance": 9.71274, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.79708, 0.11415, -1.04979 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A19C2SO0IMRZ1L:3VNXK88KKEL7ATVWW533SUCJMXI9VX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.6433, 0.11415, 10.6098 ], "start_rotation": [ 0, 0.65159, 0, 0.75857 ], "object_category": "picture", "info": { "geodesic_distance": 4.16419, "euclidean_distance": 3.7983, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.50131, 0.11415, 7.51018 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "f7ef3082a05c40659421f0a21731ae1b", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", [ "deb99671679648e28ccf7d622051ab46" ], "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "0_edge_58_newN_3" ], "64fdd371adc042558d30fa9bd00a00f5", [ "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "A3GWRDHAURRNK6:3FTF2T8WLTLKPIV1MF8ZEWVWD47W9V", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.0028, -0.07897, -0.36177 ], "start_rotation": [ 0, 0.14514, 0, -0.98941 ], "object_category": "picture", "info": { "geodesic_distance": 6.02494, "euclidean_distance": 5.28486, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.11946, 0.11415, -1.81029 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "A21ZK49H9LSSRY:3C2NJ6JBKCKJ241O952X8QASXRAN2F", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.54883, 0.11415, 7.81008 ], "start_rotation": [ 0, 0.15167, 0, -0.98843 ], "object_category": "cushion", "info": { "geodesic_distance": 8.82335, "euclidean_distance": 8.3254, "closest_goal_object_id": 628, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.14233, 0.11415, 4.62043 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "0_edge_93_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", [ "1407cf2da95e4f73951798295db82ab6" ], "0_edge_93_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3CTOC39K39TU5F790JR0BAAII697JC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.93667, 0.11415, 8.11857 ], "start_rotation": [ 0, 0.907, 0, 0.42112 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 14.42272, "euclidean_distance": 12.08396, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.10612, 0.11415, -0.23214 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "1eae38cbbaf744f99de90c99d8c013f1", "path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "0d3a3b42009441e2a02200423049d804", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "AIOOOO5OXWXKM:32SCWG5HIJ77NQW2CMRS2SWZXXHP6Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.36939, 3.51415, 11.38652 ], "start_rotation": [ 0, 0.85127, 0, -0.52472 ], "object_category": "cushion", "info": { "geodesic_distance": 1.75866, "euclidean_distance": 1.27515, "closest_goal_object_id": 298, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.38129, 3.58009, 12.14594 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A13WYZ8AXD6ODX:33L7PJKHCI1SJW8XMIXARGTN4UCT8F", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.23766, -0.08585, -11.20997 ], "start_rotation": [ 0, 0.83615, 0, 0.5485 ], "object_category": "shower", "info": { "geodesic_distance": 21.52171, "euclidean_distance": 5.92272, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.26155, 3.51415, -8.69905 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A19C2SO0IMRZ1L:34X6J5FLPV14BXCOWI06B1RE4CHQJO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.22769, 0.11415, 11.88091 ], "start_rotation": [ 0, 0.79222, 0, -0.61024 ], "object_category": "bed", "info": { "geodesic_distance": 21.32762, "euclidean_distance": 20.21461, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.97863, 0.11415, -8.00605 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A3GWRDHAURRNK6:3Z3ZLGNNSKXTQJAZTX8JVUAOO0B3QP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.98757, 3.51415, 12.65047 ], "start_rotation": [ 0, 0.97886, 0, -0.20455 ], "object_category": "shower", "info": { "geodesic_distance": 9.80776, "euclidean_distance": 8.05604, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.15606, 3.51415, 6.4287 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A3GWRDHAURRNK6:3VD82FOHKSREI7T27DRGZSJJJI1OCD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.02914, 3.51415, 7.82863 ], "start_rotation": [ 0, 0.44493, 0, 0.89557 ], "object_category": "fireplace", "info": { "geodesic_distance": 27.74255, "euclidean_distance": 7.25571, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.1302, 0.11415, 3.9147 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "463e439a4e974a00b23bfe7c684a2607", "path": [ "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3L8LSM7V7KX3T:3LPW2N6LKV5OWR4KOPGHKS5X6475UW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.23597, 0.11415, -0.55596 ], "start_rotation": [ 0, 0.91962, 0, 0.39281 ], "object_category": "plant", "info": { "geodesic_distance": 4.61468, "euclidean_distance": 4.30105, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.62922, 0.11415, -0.47215 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A26LOVXF4QZZCO:3CFVK00FWNOHW5H4KUYLLBNF5YJL6Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.94696, 0.11415, -4.90407 ], "start_rotation": [ 0, 0.25012, 0, -0.96822 ], "object_category": "toilet", "info": { "geodesic_distance": 8.98704, "euclidean_distance": 4.87903, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.66387, 0.11415, -4.42559 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A3APKUC67F9IMW:3QILPRALQ7YUOJ3DPMBYIHNVJQYN8C", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.21027, 0.11415, -3.70392 ], "start_rotation": [ 0, 0.99873, 0, -0.05033 ], "object_category": "bed", "info": { "geodesic_distance": 6.87203, "euclidean_distance": 6.4774, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.03274, 0.11415, -7.98538 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "AJQGWGESKQT4Y:3R5F3LQFV4NRQ04CZRBOAQK456BZO0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.61061, 0.11415, 5.95889 ], "start_rotation": [ 0, 0.30372, 0, 0.95276 ], "object_category": "sink", "info": { "geodesic_distance": 2.65773, "euclidean_distance": 2.55107, "closest_goal_object_id": 378, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.2144, 0.11415, 7.9306 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0d3a3b42009441e2a02200423049d804", "path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A75XDPFNICR3T:3R08VXYT7EYGBZ787IAF004R1IUW7N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.6497, -0.05079, 0.15852 ], "start_rotation": [ 0, 0.53758, 0, 0.84321 ], "object_category": "chair", "info": { "geodesic_distance": 3.1281, "euclidean_distance": 2.40291, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.87706, 0.11415, -0.86295 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3180JW2OT6FFIBTQCQC3DQWNS5TJ51", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.57989, 1.91415, -4.03761 ], "start_rotation": [ 0, 0.92836, 0, 0.37167 ], "object_category": "plant", "info": { "geodesic_distance": 9.83475, "euclidean_distance": 3.92908, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.47025, 0.11415, -0.4528 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ] }, { "episode_id": "AZPZDX26SYMFY:3TMFV4NEPAHKBDCRHN2LE00MC2HW8R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.44929, 0.11415, -5.63112 ], "start_rotation": [ 0, 0.73351, 0, -0.67968 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.75921, "euclidean_distance": 3.79564, "closest_goal_object_id": 829, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.13619, 0.11415, -8.42583 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3AAJC4I4FIVDPPDFJEJJ2U3I9F0ZJP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.76461, 0.11415, -3.06201 ], "start_rotation": [ 0, 0.54175, 0, 0.84054 ], "object_category": "chair", "info": { "geodesic_distance": 3.60714, "euclidean_distance": 3.15384, "closest_goal_object_id": 827, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.14329, 0.11415, -5.61885 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "AIOOOO5OXWXKM:39O5D9O87VVPWI0GOF7OBPL81WBC3Z", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.99017, 3.51415, -8.99534 ], "start_rotation": [ 0, 0.08921, 0, -0.99601 ], "object_category": "towel", "info": { "geodesic_distance": 6.56568, "euclidean_distance": 3.39217, "closest_goal_object_id": 18, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.54553, 3.51415, -8.34656 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c" ], "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "A2TUUIV61CR0C7:39LOEL67OU8NKFA373RJ93PPEAV837", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.98157, 3.51415, -5.32987 ], "start_rotation": [ 0, 0.03287, 0, -0.99946 ], "object_category": "sofa", "info": { "geodesic_distance": 12.33045, "euclidean_distance": 6.50048, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.00311, 0.11415, 0.12565 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "31ae672c4fda4ce29add4798d07ce3b1", "path": [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "6a3fba49106e4a9fb40cd0bf47dd4d46", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "refined_path": [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300" ], "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ] }, { "episode_id": "A1NSHNH3MNFRGW:35GMH2SV3GKTF5DG34XBPGJL146EO3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.21391, -0.08585, -0.45223 ], "start_rotation": [ 0, 0.97121, 0, -0.23824 ], "object_category": "chair", "info": { "geodesic_distance": 4.64173, "euclidean_distance": 3.59846, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.81691, 0.11415, -0.85756 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3" ] }, { "episode_id": "A3GWRDHAURRNK6:3WJEQKOXAA55T0P3HXXEH1GNQ1TA1R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.27651, 3.51415, -4.42543 ], "start_rotation": [ 0, 0.99254, 0, 0.12188 ], "object_category": "cushion", "info": { "geodesic_distance": 6.33775, "euclidean_distance": 5.71669, "closest_goal_object_id": 83, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.50611, 3.51415, -9.14796 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "AIIOT9A7ARQZW:34QN5IT0T1UR3NB6OG9075RIBUE807", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 15.20337, 3.51415, 11.76547 ], "start_rotation": [ 0, 0.9907, 0, 0.13605 ], "object_category": "sink", "info": { "geodesic_distance": 11.59396, "euclidean_distance": 9.83905, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.32948, 3.51415, 7.34625 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de" ] ] }, { "episode_id": "A2GQH4SWIOFH2L:37TD41K0AJCTGZLVEU8PJXTKTOJCSO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.07366, 3.51415, -5.9778 ], "start_rotation": [ 0, 0.88513, 0, -0.46534 ], "object_category": "table", "info": { "geodesic_distance": 11.03572, "euclidean_distance": 10.18399, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.42537, 3.51415, 3.11564 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:3E7TUJ2EGEPLGCVA5K39M86CMFD9DB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.92644, -0.04512, -1.12374 ], "start_rotation": [ 0, 0.9963, 0, -0.0859 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.82439, "euclidean_distance": 9.82936, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.82508, 0.11415, -1.04231 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A21ZK49H9LSSRY:39KFRKBFIPYRLAU73595WJB2ZCCOY3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.62926, 3.51415, 12.07959 ], "start_rotation": [ 0, 0.27531, 0, -0.96136 ], "object_category": "sink", "info": { "geodesic_distance": 10.07846, "euclidean_distance": 8.63317, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.38552, 3.51415, 7.25982 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A16184N1RO5OJV:3M81GAB8A2MYTEEC8QNPDD81T4PBQW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.86141, 0.09866, 0.01928 ], "start_rotation": [ 0, 0.99917, 0, -0.04063 ], "object_category": "picture", "info": { "geodesic_distance": 4.14376, "euclidean_distance": 3.71417, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.20396, 0.11415, -1.72436 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "cc896d0984cc4661bff9087a0df6967c" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c" ] }, { "episode_id": "A3K1P4SPR8XS7R:3AWETUDC94VHUET91WYJQTOIW1SIZF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.08731, 3.64225, -8.20814 ], "start_rotation": [ 0, 0.97961, 0, 0.20089 ], "object_category": "plant", "info": { "geodesic_distance": 16.35832, "euclidean_distance": 12.70975, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.11402, 3.51415, 4.45567 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ] ] }, { "episode_id": "A2J5DN5UMU0A3Z:3K4J6M3CXGW2XFF6ZGIHOOKT816GAT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.83985, 3.51415, 0.60836 ], "start_rotation": [ 0, 0.55214, 0, 0.83375 ], "object_category": "toilet", "info": { "geodesic_distance": 9.62511, "euclidean_distance": 5.99337, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.14751, 3.51415, 6.29207 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737" ], "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3X4JMASXCOCA5L9DRSTAY7HJ3RUB06", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.95862, 0.11415, -7.50324 ], "start_rotation": [ 0, 0.952, 0, 0.30609 ], "object_category": "plant", "info": { "geodesic_distance": 6.31891, "euclidean_distance": 5.51996, "closest_goal_object_id": 812, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.10339, 0.11415, -4.08998 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", [ "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3W92K5RLWWKO96TKTFQMGE7H34LV5N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.20442, 3.51415, -2.94928 ], "start_rotation": [ 0, 0.69486, 0, -0.71914 ], "object_category": "sofa", "info": { "geodesic_distance": 10.40107, "euclidean_distance": 4.70489, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.1358, 0.11415, 0.24779 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A3K1P4SPR8XS7R:3E13VNJ1NPYKZI81TLPRYZ46GNJI1T", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.04553, 0.11415, 11.89445 ], "start_rotation": [ 0, 0.4526, 0, 0.89171 ], "object_category": "bed", "info": { "geodesic_distance": 21.60636, "euclidean_distance": 19.85533, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.11553, 0.11415, -8.04153 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_84_newN_2", "path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "AKYXQY5IP7S0Z:3OS4RQUCRBI12PO3UACV1E4NM7AFBA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.01106, -0.08585, -11.18608 ], "start_rotation": [ 0, 0.50351, 0, 0.86399 ], "object_category": "chair", "info": { "geodesic_distance": 2.37563, "euclidean_distance": 2.19452, "closest_goal_object_id": 833, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.70657, 0.11415, -9.65073 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A1R0689JPSQ3OF:3G2UL9A02FHIHKS2G0XB265EAKQ67Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.91166, 0.56309, -2.49878 ], "start_rotation": [ 0, 0.57569, 0, -0.81767 ], "object_category": "table", "info": { "geodesic_distance": 1.66187, "euclidean_distance": 1.4363, "closest_goal_object_id": 678, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.1909, 0.11415, -1.26222 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3018Q3ZVOKTTM5OKFRCTNSYZTJPARQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.14828, 3.51415, -5.54889 ], "start_rotation": [ 0, 0.83845, 0, -0.54498 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.33982, "euclidean_distance": 5.02541, "closest_goal_object_id": 10, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.08631, 3.51415, -8.6448 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "834865d0e74042d38b796ded2488d64c", "path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "fec0a4503f7d4cee8f491934eff0d498", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", [ "834865d0e74042d38b796ded2488d64c" ], "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A1ZE52NWZPN85P:3I02618YA29SP1M384PVIYAF0K5UP5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.27564, 3.55024, 12.1149 ], "start_rotation": [ 0, 0.30945, 0, 0.95091 ], "object_category": "stool", "info": { "geodesic_distance": 8.7296, "euclidean_distance": 3.87071, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.43624, 3.51415, 11.29514 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "episode_id": "AIIOT9A7ARQZW:3TS1AR6UQSHE0DLDHT0FWCIR6B1F7X", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.51298, 0.11415, 1.1622 ], "start_rotation": [ 0, 0.98407, 0, -0.17779 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.45817, "euclidean_distance": 5.70652, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.63812, 0.11415, 6.93353 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_2", "path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3Z4GS9HPNXD1LK67ZA238K59RB6772", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.30866, 3.51415, 9.63737 ], "start_rotation": [ 0, 0.99378, 0, -0.11135 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.78947, "euclidean_distance": 9.8121, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.38652, 3.51415, 9.32846 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A29CNQYJWMJ7G9:3L4D84MIL1VRY4DLDSDC2NZCUZIHJF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.04764, 0.11415, 7.82806 ], "start_rotation": [ 0, 0.06932, 0, 0.99759 ], "object_category": "seating", "info": { "geodesic_distance": 11.72538, "euclidean_distance": 10.63116, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.97443, 0.11415, 2.19282 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2" ], "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A2TUUIV61CR0C7:3QEMNNSB2Z2H2T7HQN5P8CF5BUMD7S", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.15001, 0.11415, -2.85425 ], "start_rotation": [ 0, 0.36375, 0, -0.93149 ], "object_category": "towel", "info": { "geodesic_distance": 11.13486, "euclidean_distance": 5.32756, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.14821, 0.11415, -4.53252 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A3KC26Z78FBOJT:3R0T90IZ1UFQQUC4JUE8UJAGPXWCGX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.1239, 0.17014, 5.30757 ], "start_rotation": [ 0, 0.2752, 0, 0.96139 ], "object_category": "counter", "info": { "geodesic_distance": 7.16732, "euclidean_distance": 6.32022, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.43011, 0.11415, 7.87959 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0_edge_3_newN_0", "path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A2TUUIV61CR0C7:3I02618YA29SP1M384PVIYAFDZ2UP9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.19065, 3.51415, 11.83268 ], "start_rotation": [ 0, 0.02733, 0, 0.99963 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.4201, "euclidean_distance": 5.30219, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.48418, 3.51415, 9.24405 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_125_newN_0", "path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3WZ36BJEV5JBLU64PUHKIIJOGBATBH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.4432, 0.11415, 5.00609 ], "start_rotation": [ 0, 0.74788, 0, -0.66383 ], "object_category": "sink", "info": { "geodesic_distance": 5.55525, "euclidean_distance": 5.22862, "closest_goal_object_id": 378, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.12939, 0.11415, 8.13203 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A3L8LSM7V7KX3T:34Z02EIMIUGA173UREKVY1N48Q30TB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.70121, 0.13966, 5.33268 ], "start_rotation": [ 0, 0.14551, 0, 0.98936 ], "object_category": "picture", "info": { "geodesic_distance": 5.43099, "euclidean_distance": 4.70107, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.60106, 0.11415, 7.62068 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "8e63389afc02448a9d0dd695bc50253a", "path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", [ "f7ef3082a05c40659421f0a21731ae1b" ], "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "AKYXQY5IP7S0Z:3X73LLYYQ3HNHU46SQ54VUGUJJRHN5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.82741, 0.11415, 8.06687 ], "start_rotation": [ 0, 0.38922, 0, -0.92114 ], "object_category": "seating", "info": { "geodesic_distance": 12.52495, "euclidean_distance": 11.42301, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.93495, 0.11415, 2.23858 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "1eae38cbbaf744f99de90c99d8c013f1", "path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "AD1ILDUXZHASF:3K3R2QNK8D67XE6WRFTYW8A07E39UD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.60178, 3.51415, 8.04218 ], "start_rotation": [ 0, 0.69253, 0, 0.72139 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.09211, "euclidean_distance": 5.2404, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.33805, 3.51415, 8.18183 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A2L26DMSVUEDP6:3DYGAII7PNB0X8FMRV5Q8XDQAKTPQ8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.93262, 0.11415, -9.58448 ], "start_rotation": [ 0, 0.32543, 0, 0.94557 ], "object_category": "fireplace", "info": { "geodesic_distance": 14.58791, "euclidean_distance": 13.888, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.13862, 0.11415, 3.95235 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A5WWHKD82I8UE:3A9AA95ATYPB4MWO73HNAMIZHBK5P2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.91219, 0.11415, -0.72654 ], "start_rotation": [ 0, 0.44618, 0, -0.89494 ], "object_category": "bathtub", "info": { "geodesic_distance": 4.60198, "euclidean_distance": 3.86228, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.84171, 0.11415, -1.04951 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2MCG5W6LHSRG9:3UJ1CZ6IZJS8HECGZKLH5RNA4Z05SZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.6526, 0.09572, -1.52404 ], "start_rotation": [ 0, 0.45704, 0, -0.88945 ], "object_category": "picture", "info": { "geodesic_distance": 5.59435, "euclidean_distance": 3.43255, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.18441, 0.11415, -1.902 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ] }, { "episode_id": "A1P3HHEXWNLJMP:3N8OEVH1FTTFRWQ5XI07USD0LG4OOB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.26758, 3.51415, -3.90338 ], "start_rotation": [ 0, 0.9785, 0, -0.20623 ], "object_category": "seating", "info": { "geodesic_distance": 11.89397, "euclidean_distance": 6.62966, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.00532, 0.11415, 0.64918 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A1P3HHEXWNLJMP:3B4YI393VBZ9NGARBGYPY2X2FMVSSE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.26763, 3.09215, -3.441 ], "start_rotation": [ 0, 0.971, 0, 0.23909 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.22904, "euclidean_distance": 1.61435, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.83511, 3.51415, -4.86481 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A3R5OJR60C6004:3ZGVPD4G6VK73S9KV8XN40QRR8QTZP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.89983, 0.11415, -9.26299 ], "start_rotation": [ 0, 0.73519, 0, 0.67786 ], "object_category": "sofa", "info": { "geodesic_distance": 10.45724, "euclidean_distance": 9.44284, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.0846, 0.11415, 0.24039 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A3K1P4SPR8XS7R:30OG32W0SWEBXKD42PXYARJHR3WENJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.51131, 0.11415, -9.52777 ], "start_rotation": [ 0, 0.07113, 0, -0.99747 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 21.97573, "euclidean_distance": 14.47407, "closest_goal_object_id": 115, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.76711, 3.51415, 4.38638 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_tv_monitor", "start_potision_viewpoint_id": "4f07d9e99e084876b0765220888d2545", "path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0f42320ef887416fb8ed9b91b6641cfc", "a55dab7d921b47d59b1391d69fa7e464", "fed8aaa68c9b43a3b83770b4bd2324ed", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the monitor.", "instr_encoding": [ 101, 2424, 1996, 8080, 1012, 102 ], "original_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459" ], "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", [ "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6" ], "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ], "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A1NLDZ3T0S2CX:3WT783CTPDKUZD4T38MUT8JKSTACBP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.17914, 0.11415, -8.71107 ], "start_rotation": [ 0, 0.26542, 0, -0.96413 ], "object_category": "stool", "info": { "geodesic_distance": 9.16266, "euclidean_distance": 8.55068, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.21214, 0.11415, -0.18439 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "4f07d9e99e084876b0765220888d2545", "path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A1ZE52NWZPN85P:38SKSKU7R30XPPC5MV7AIEDK1IBLIQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.26663, 3.51415, -4.16939 ], "start_rotation": [ 0, 0.70468, 0, -0.70952 ], "object_category": "sofa", "info": { "geodesic_distance": 20.65956, "euclidean_distance": 6.22384, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.04074, 0.11415, 0.08475 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A2J6S7QR4CGXTW:3M1CVSFP628TA49K2CNTI2OVEP3QAO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.14801, 0.11415, -5.27805 ], "start_rotation": [ 0, 0.67947, 0, 0.73371 ], "object_category": "cushion", "info": { "geodesic_distance": 5.38052, "euclidean_distance": 4.45353, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.99565, 0.11415, -8.62765 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c" ], "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A1R0689JPSQ3OF:34S6N1K2ZXMXTU1LGDPPI2C40YQHL6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.08471, 0.11415, 9.52851 ], "start_rotation": [ 0, 0.02463, 0, -0.9997 ], "object_category": "chair", "info": { "geodesic_distance": 3.51559, "euclidean_distance": 2.25045, "closest_goal_object_id": 431, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.94329, 0.11415, 8.3652 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf" ], "refined_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "episode_id": "A1R0689JPSQ3OF:3H0W84IWBM5WCI5WVWEFJBOQEARERH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.31455, -0.04754, -0.4474 ], "start_rotation": [ 0, 0.80657, 0, 0.59115 ], "object_category": "chair", "info": { "geodesic_distance": 3.58429, "euclidean_distance": 2.51419, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.82627, 0.11415, -0.84722 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ] ] }, { "episode_id": "A3HL2LL0LEPZT8:39L1G8WVWSU59FQI8II4UT2GJO413G", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.71435, -0.08585, -11.94308 ], "start_rotation": [ 0, 0.76772, 0, -0.64079 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.70575, "euclidean_distance": 4.41861, "closest_goal_object_id": 839, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.11724, 0.11415, -9.07031 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ] ] }, { "episode_id": "A21ZK49H9LSSRY:3B3WTRP3DD5YD2XU8VJSQPF8P4T923", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.5403, 0.11415, 11.55935 ], "start_rotation": [ 0, 0.29228, 0, -0.95633 ], "object_category": "bed", "info": { "geodesic_distance": 21.24383, "euclidean_distance": 19.6863, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.02997, 0.11415, -8.07642 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A28U7B76HLCS1U:36PW28KO41Z4D1JFTLSTOLZHVI1EAE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.22676, -0.08585, -11.35161 ], "start_rotation": [ 0, 0.25224, 0, 0.96766 ], "object_category": "shower", "info": { "geodesic_distance": 21.03288, "euclidean_distance": 5.38943, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.18293, 3.51415, -8.54689 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A3PFU4042GIQLE:3C8HJ7UOP9X3QXJ0MBWBIMVYUB5MZ9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.1884, 1.91415, -3.99954 ], "start_rotation": [ 0, 0.9159, 0, 0.4014 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.2628, "euclidean_distance": 2.30548, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.83867, 3.51415, -4.87434 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A2TUUIV61CR0C7:3G5F9DBFOR00PZDFUHRV5BA75L5VHA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.85561, 3.51415, -2.93636 ], "start_rotation": [ 0, 0.89886, 0, 0.43824 ], "object_category": "fireplace", "info": { "geodesic_distance": 14.7992, "euclidean_distance": 7.992, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.24541, 0.11415, 3.94053 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "18ea875fed1b4dc99363420c08cb4300", "path": [ "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A29CNQYJWMJ7G9:32AT8R96GNCP2T2V0LTPD3FPKP4USE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.26031, 0.11415, 7.8957 ], "start_rotation": [ 0, 0.75281, 0, -0.65824 ], "object_category": "seating", "info": { "geodesic_distance": 10.94854, "euclidean_distance": 10.00519, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.15004, 0.11415, 2.30413 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "0_edge_58_newN_0", "0_edge_37_newN_0", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "33f72d3f5ada42d09785a13fe1ff804f", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "12a0b0641a9a4794bb49bbcf13cea981", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "dd735554f3c94e0bb22097e78d0209e8", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", [ "0_edge_8_newN_2" ], "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300" ], "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c" ], "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459" ], "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "AZPZDX26SYMFY:39O5D9O87VVPWI0GOF7OBPL813K3CD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.87156, 3.51415, 10.36429 ], "start_rotation": [ 0, 0.5412, 0, -0.84089 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.05915, "euclidean_distance": 5.46421, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.34617, 3.51415, 9.26274 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] ] }, { "episode_id": "A2ZZW6KME1FUDU:30BUDKLTXFY77V7YYP1CGAJV05SE5Z", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.35432, 0.11415, 0.71704 ], "start_rotation": [ 0, 0.64877, 0, 0.76098 ], "object_category": "counter", "info": { "geodesic_distance": 7.64782, "euclidean_distance": 7.19012, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.40299, 0.11415, 7.8164 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "episode_id": "AIOOOO5OXWXKM:3SB4CE2TJXYDJ1AWOQILCAKO8P3AX9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.96935, 3.51415, 12.31335 ], "start_rotation": [ 0, 0.93493, 0, 0.35484 ], "object_category": "counter", "info": { "geodesic_distance": 24.33263, "euclidean_distance": 21.97563, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.08511, 3.51415, -9.15428 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "dbce7eccf4a140338da926d313e07b5c", "path": [ "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A35CL66BEUSJ5Z:336YQZE83XH5JJZBFNPVTIO48W45MD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.72268, 0.11415, -0.21073 ], "start_rotation": [ 0, 0.8876, 0, -0.46061 ], "object_category": "shower", "info": { "geodesic_distance": 18.17998, "euclidean_distance": 9.74355, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.33249, 3.51415, -8.55025 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A3V8LIMUUJWUTL:3NGI5ARFTV8CG4V56GFB7W5HOJR1PL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.29165, 0.11415, -5.22977 ], "start_rotation": [ 0, 0.85063, 0, -0.52577 ], "object_category": "toilet", "info": { "geodesic_distance": 10.48348, "euclidean_distance": 6.56047, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.68478, 0.11415, -4.41183 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AZPZDX26SYMFY:3QILPRALQ7YUOJ3DPMBYIHNVJQUN88", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.26772, 0.04114, -0.56959 ], "start_rotation": [ 0, 0.40953, 0, 0.9123 ], "object_category": "chair", "info": { "geodesic_distance": 2.80627, "euclidean_distance": 1.5544, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.85162, 0.11415, -1.03384 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3LRLIPTPESC7Z1BPP73WMGCLWBLAKP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.95664, 0.11415, 5.06901 ], "start_rotation": [ 0, 0.61326, 0, 0.78988 ], "object_category": "towel", "info": { "geodesic_distance": 8.43054, "euclidean_distance": 7.72318, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.02402, 0.11415, 8.42069 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "0_edge_73_newN_1", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A1R0689JPSQ3OF:3T111IHZ5GTFHMEFNLYTRXNGOHJ9RL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.01593, 3.51415, 9.9362 ], "start_rotation": [ 0, 0.19802, 0, -0.9802 ], "object_category": "cushion", "info": { "geodesic_distance": 8.98633, "euclidean_distance": 8.41773, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.78576, 3.51415, 3.38546 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "0_edge_125_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1" ] }, { "episode_id": "A3T5UAYFKJBVTA:358UUM7WR16B33QM8O09D1W9QB07RB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.05216, 3.51415, -5.9365 ], "start_rotation": [ 0, 0.9975, 0, -0.07069 ], "object_category": "table", "info": { "geodesic_distance": 10.99913, "euclidean_distance": 10.13744, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.54586, 3.51415, 3.12925 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "AYYSG3O9FNU15:3K2755HG5U6UHMMN8631W4SNSQ2FDW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.94232, 0.11415, 12.18621 ], "start_rotation": [ 0, 0.44867, 0, 0.8937 ], "object_category": "stool", "info": { "geodesic_distance": 4.04443, "euclidean_distance": 3.62952, "closest_goal_object_id": 552, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.95351, 0.11415, 8.63924 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "0_edge_84_newN_2", "path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "refined_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "episode_id": "AIOOOO5OXWXKM:38F5OAUN5PFYE9CJCJOFZXU35EXH79", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.56798, 0.04762, 0.31977 ], "start_rotation": [ 0, 0.27043, 0, 0.96274 ], "object_category": "bed", "info": { "geodesic_distance": 11.94853, "euclidean_distance": 10.54234, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.00319, 0.11415, -7.97059 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A3L8LSM7V7KX3T:36PW28KO41Z4D1JFTLSTOLZGCUEAEQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.13571, 0.11415, -3.20354 ], "start_rotation": [ 0, 0.94998, 0, 0.31231 ], "object_category": "plant", "info": { "geodesic_distance": 6.39383, "euclidean_distance": 5.14172, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.48846, 0.11415, -0.37739 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3K1P4SPR8XS7R:3N4BPTXIOAVREAPNVCKNMHOGMMWKUV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.61664, 0.11415, -3.43732 ], "start_rotation": [ 0, 0.95385, 0, -0.30028 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 1.64552, "euclidean_distance": 1.53043, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.21497, 0.11415, -3.06502 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A2L26DMSVUEDP6:3EG49X351WFCWZYTYD19W5I1WAO6XG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.31769, 3.83412, -7.95504 ], "start_rotation": [ 0, 0.95183, 0, -0.30663 ], "object_category": "chair", "info": { "geodesic_distance": 2.43792, "euclidean_distance": 2.09227, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.31348, 3.51415, -8.35342 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A13WYZ8AXD6ODX:3X3OR7WPZ1340J0SD9VJ5PJ6ESQ8LH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.88276, 1.79435, -2.36381 ], "start_rotation": [ 0, 0.20766, 0, 0.9782 ], "object_category": "picture", "info": { "geodesic_distance": 2.79561, "euclidean_distance": 1.81673, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.6949, 2.79306, -3.51972 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A1R0689JPSQ3OF:39O5D9O87VVPWI0GOF7OBPL8OR6C37", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.50948, 3.51415, -4.98813 ], "start_rotation": [ 0, 0.20895, 0, -0.97793 ], "object_category": "seating", "info": { "geodesic_distance": 13.06445, "euclidean_distance": 7.10604, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.8575, 0.11415, 0.72853 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "29f8bc9c86e94a3692ec50fbad2e7204", "path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "4ed46372db6849e28e1ed9ada35efeac", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "7cdc2565c773401289b95360da22e017", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_58_newN_3", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204" ], "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be" ], "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0" ], "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6" ], "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A2KOR4003SVNC5:3OB0CAO74JSHTT8KZSEFCAE1MFMHY9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.19676, 0.11415, 8.24602 ], "start_rotation": [ 0, 0.9445, 0, 0.32851 ], "object_category": "shower", "info": { "geodesic_distance": 25.42308, "euclidean_distance": 17.47011, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.27553, 3.51415, -8.63 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "7cdc2565c773401289b95360da22e017", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A3HL2LL0LEPZT8:386PBUZZXH0TK0WB4DSAUFSJDL4JLD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.66872, 0.11415, 2.17387 ], "start_rotation": [ 0, 0.99545, 0, 0.09524 ], "object_category": "counter", "info": { "geodesic_distance": 7.76971, "euclidean_distance": 7.13446, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.4798, 0.11415, 7.72295 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "64fdd371adc042558d30fa9bd00a00f5", "path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "refined_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "episode_id": "AOMFEAWQHU3D8:3PDJHANYK7JFA9YET9JNTJU8OSSH6J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.78547, 3.51415, 12.15637 ], "start_rotation": [ 0, 0.1199, 0, -0.99279 ], "object_category": "sofa", "info": { "geodesic_distance": 27.66882, "euclidean_distance": 12.98616, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.07437, 0.11415, 0.10501 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3YMU66OBIPBH72NK5MS95A7X5L5GHB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.59911, 3.51415, 12.1662 ], "start_rotation": [ 0, 0.15435, 0, -0.98802 ], "object_category": "table", "info": { "geodesic_distance": 7.84607, "euclidean_distance": 4.73663, "closest_goal_object_id": 235, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.28593, 3.51415, 10.19253 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A1P3HHEXWNLJMP:3GDTJDAPVWEO61IDDLWY52YVBW78M5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.58342, 3.51415, 4.72353 ], "start_rotation": [ 0, 0.59306, 0, 0.80516 ], "object_category": "towel", "info": { "geodesic_distance": 11.65852, "euclidean_distance": 6.98798, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.02496, 3.51415, -2.34607 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A35CL66BEUSJ5Z:3PDJHANYK7JFA9YET9JNTJU8RJX6HY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.4892, 0.03392, 0.25069 ], "start_rotation": [ 0, 0.45945, 0, 0.88821 ], "object_category": "toilet", "info": { "geodesic_distance": 12.31937, "euclidean_distance": 8.71746, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.96387, 0.11415, 8.78071 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2TUUIV61CR0C7:3TOK3KHVJVL86QY6GWJ5J6R5VL27O0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.90223, 3.51415, -2.391 ], "start_rotation": [ 0, 0.55454, 0, -0.83216 ], "object_category": "cushion", "info": { "geodesic_distance": 4.96679, "euclidean_distance": 4.26436, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.25372, 3.51415, 1.52185 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A3T5UAYFKJBVTA:3OXV7EAXLGT0G1RFEOULPPTYS16369", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.34828, -0.08585, 1.10354 ], "start_rotation": [ 0, 0.83536, 0, 0.5497 ], "object_category": "table", "info": { "geodesic_distance": 6.22151, "euclidean_distance": 5.01947, "closest_goal_object_id": 599, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.07767, 0.11415, 2.96686 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] }, { "episode_id": "A2O65E9TOSX7GV:3C2NJ6JBKCKJ241O952X8QASUN32NC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.26872, 3.51415, -3.59905 ], "start_rotation": [ 0, 0.66129, 0, -0.75013 ], "object_category": "counter", "info": { "geodesic_distance": 6.18506, "euclidean_distance": 5.74909, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.09527, 3.51415, -9.11957 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A3L8LSM7V7KX3T:3JNQLM5FT6PTE4Y3XSMIVY629RO2LB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.86122, -0.06978, -0.76498 ], "start_rotation": [ 0, 0.93188, 0, -0.36276 ], "object_category": "sink", "info": { "geodesic_distance": 12.86641, "euclidean_distance": 8.65567, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.74699, 0.11415, -7.99579 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A2TUUIV61CR0C7:38BQUHLA9Y3RRT5TK2LU2OOVPR5OMX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.94098, 0.11415, 4.09742 ], "start_rotation": [ 0, 0.97707, 0, -0.2129 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.30696, "euclidean_distance": 2.82799, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.59165, 0.11415, 6.86032 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A31BA1WLSWUSY1:3DPNQGW4LNILYXAJE2Z4ZUL466D64I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.78752, 3.51415, -4.98608 ], "start_rotation": [ 0, 0.20643, 0, 0.97846 ], "object_category": "seating", "info": { "geodesic_distance": 23.14256, "euclidean_distance": 6.69076, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.83881, 0.11415, 0.68991 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "71859791901b45939806508a364adf17", "path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "fec0a4503f7d4cee8f491934eff0d498", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", [ "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c" ], "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1" ], "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "0_edge_69_newN_1", "0_edge_69_newN_0", [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A2DWSKGD9RNKMJ:39GAF6DQWT3PLOS1SSOADOU0OL2V1I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.70966, 0.11415, 8.5142 ], "start_rotation": [ 0, 0.65443, 0, 0.75612 ], "object_category": "toilet", "info": { "geodesic_distance": 11.35798, "euclidean_distance": 10.66547, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.00816, 0.11415, 8.85782 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", [ "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A74PT3GRDMEZ:3SUWZRL0M0G3QZ7C38BH8GXVZZP6EU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.91231, 3.51415, -9.27951 ], "start_rotation": [ 0, 0.8843, 0, 0.46691 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.95511, "euclidean_distance": 5.53938, "closest_goal_object_id": 4, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.524, 3.51415, -8.85223 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A28U7B76HLCS1U:3LO69W1SU5GJTY6AW777X2042AELGJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.91542, 3.51415, 12.0945 ], "start_rotation": [ 0, 0.64662, 0, -0.76281 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.92097, "euclidean_distance": 4.2848, "closest_goal_object_id": 316, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.05239, 3.51415, 8.24571 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3VE8AYVF8O0I0RQWRYSLACEME2P8F6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.56328, -0.08585, -0.37058 ], "start_rotation": [ 0, 0.68832, 0, 0.7254 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.62218, "euclidean_distance": 3.36685, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.98086, 0.11415, -0.15764 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A1R0689JPSQ3OF:3A0EX8ZRNAR72G5YZ04JQZB3SI0YBQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.32064, 0.11415, 8.11536 ], "start_rotation": [ 0, 0.99894, 0, 0.04609 ], "object_category": "chair", "info": { "geodesic_distance": 2.91312, "euclidean_distance": 2.75611, "closest_goal_object_id": 431, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.98103, 0.11415, 8.29384 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1" ] }, { "episode_id": "A31BA1WLSWUSY1:3PWWM24LHU1YZXEK33DEQTKXSMN28I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.6771, 3.51415, 11.86674 ], "start_rotation": [ 0, 0.77563, 0, -0.63119 ], "object_category": "sofa", "info": { "geodesic_distance": 27.36354, "euclidean_distance": 12.68864, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.19969, 0.11415, 0.17582 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A3F0NFNLOLFJT0:3QAPZX2QN6GGH89H8Z0ZXEEF9KG20S", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.28371, 3.51415, -9.56483 ], "start_rotation": [ 0, 0.25896, 0, 0.96589 ], "object_category": "table", "info": { "geodesic_distance": 15.57101, "euclidean_distance": 14.3879, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.47711, 3.51415, 3.09711 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A29CNQYJWMJ7G9:3DEL4X4EL8OEFJ8Z4WW1FW2UVM8YX3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.75838, 1.91415, -2.92002 ], "start_rotation": [ 0, 0.67647, 0, 0.73647 ], "object_category": "stool", "info": { "geodesic_distance": 6.64618, "euclidean_distance": 4.03496, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.26409, 0.11415, -0.17665 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "AD1ILDUXZHASF:39O5D9O87VVPWI0GOF7OBPL81Y33CM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.41109, 0.11415, -4.03006 ], "start_rotation": [ 0, 0.66728, 0, -0.7448 ], "object_category": "toilet", "info": { "geodesic_distance": 12.05658, "euclidean_distance": 8.39968, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.7773, 0.11415, -4.36495 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A16184N1RO5OJV:3S4AW7T80DL3HIDQ1656OD319IYL4C", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.47222, 3.51415, -2.43199 ], "start_rotation": [ 0, 0.90139, 0, 0.433 ], "object_category": "plant", "info": { "geodesic_distance": 8.18116, "euclidean_distance": 7.07301, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.09823, 3.51415, 4.56422 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ] }, { "episode_id": "A3T5UAYFKJBVTA:3AMYWKA6YDPP2QK1XMEDDSR90D0O66", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.685, -0.06522, -1.13733 ], "start_rotation": [ 0, 0.2753, 0, 0.96136 ], "object_category": "table", "info": { "geodesic_distance": 6.36079, "euclidean_distance": 5.96112, "closest_goal_object_id": 599, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.08414, 0.11415, 2.99869 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] ] }, { "episode_id": "A3T5UAYFKJBVTA:374TNBHA8DYU6M7NII19LO62HGEYQE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.63078, -0.08585, -10.87847 ], "start_rotation": [ 0, 0.14374, 0, -0.98962 ], "object_category": "cushion", "info": { "geodesic_distance": 5.23879, "euclidean_distance": 4.97802, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.27162, 0.11415, -9.24049 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A3L8LSM7V7KX3T:3OLQQLKKNUSFEUMJNR56HK20ICVEJ5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.58469, -0.08585, -11.97711 ], "start_rotation": [ 0, 0.61763, 0, -0.78647 ], "object_category": "bed", "info": { "geodesic_distance": 5.50713, "euclidean_distance": 4.57887, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.05313, 0.11415, -9.00528 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A272X64FOZFYLB:30JNVC0ORBN8KRHY8IXLZOBZBBTQH1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.61004, 0.11415, 2.62863 ], "start_rotation": [ 0, 0.40414, 0, -0.9147 ], "object_category": "fireplace", "info": { "geodesic_distance": 1.4128, "euclidean_distance": 1.34052, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.87615, 0.11415, 3.84657 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0_edge_3_newN_2", "path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3L8LSM7V7KX3T:3A0EX8ZRNAR72G5YZ04JQZB3SJRBYW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.66303, 0.11415, 10.18012 ], "start_rotation": [ 0, 0.65263, 0, -0.75768 ], "object_category": "bed", "info": { "geodesic_distance": 19.57898, "euclidean_distance": 18.19717, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.95083, 0.11415, -7.96258 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "AZPZDX26SYMFY:37C0GNLMHH6YYTTC7D0X2YFAW0LD6S", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.45509, 0.11415, -4.32396 ], "start_rotation": [ 0, 0.62048, 0, -0.78422 ], "object_category": "fireplace", "info": { "geodesic_distance": 11.81762, "euclidean_distance": 10.61076, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.12551, 0.11415, 3.92063 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "AKYXQY5IP7S0Z:3FDJT1UU76BATVZ8UBCFE5WZ6K85KE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.19982, 3.51415, -7.99801 ], "start_rotation": [ 0, 0.24797, 0, -0.96877 ], "object_category": "counter", "info": { "geodesic_distance": 6.62453, "euclidean_distance": 4.3052, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.01211, 3.51415, -8.98543 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A182N7RLXGSCZG:3DPNQGW4LNILYXAJE2Z4ZUL35PJ64N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.53534, 3.51415, 7.93709 ], "start_rotation": [ 0, 0.99961, 0, 0.0281 ], "object_category": "towel", "info": { "geodesic_distance": 20.26628, "euclidean_distance": 10.29202, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.07522, 3.51415, -2.28725 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "4ed46372db6849e28e1ed9ada35efeac", "path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3OB0CAO74JSHTT8KZSEFCAE07U0HY0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.96637, 3.51415, -5.46663 ], "start_rotation": [ 0, 0.53584, 0, 0.84432 ], "object_category": "chair", "info": { "geodesic_distance": 5.86852, "euclidean_distance": 5.17721, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.34709, 3.51415, -8.26639 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A19C2SO0IMRZ1L:3Z4AIRP3C8GHPDXWS7PS19RL46W1XX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.09598, 3.51415, -5.4411 ], "start_rotation": [ 0, 0.92367, 0, -0.38318 ], "object_category": "plant", "info": { "geodesic_distance": 11.11899, "euclidean_distance": 10.36731, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.09581, 3.51415, 4.38473 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "7c9717fb9297481bad3a5cc351f4fddf", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", [ "12a0b0641a9a4794bb49bbcf13cea981" ], "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A2TUUIV61CR0C7:33F859I568GLGLF9P00V4ZG05KLBH1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.05675, 3.71415, -6.90199 ], "start_rotation": [ 0, 0.99547, 0, -0.0951 ], "object_category": "bed", "info": { "geodesic_distance": 3.15007, "euclidean_distance": 2.45249, "closest_goal_object_id": 79, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.89107, 3.51415, -8.68783 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3ATTHHXXWCRSPJTU0EAYT887O1TIXH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.67263, 3.51415, -8.61364 ], "start_rotation": [ 0, 0.77789, 0, -0.62839 ], "object_category": "plant", "info": { "geodesic_distance": 14.73235, "euclidean_distance": 13.09427, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.0063, 3.51415, 4.52449 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:317HQ483I9VNDPFQY8NPV6H83OWNIW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.00006, 3.51415, -5.30087 ], "start_rotation": [ 0, 0.95237, 0, -0.30494 ], "object_category": "cushion", "info": { "geodesic_distance": 2.99315, "euclidean_distance": 2.84366, "closest_goal_object_id": 99, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.4352, 3.51415, -6.85975 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "29f8bc9c86e94a3692ec50fbad2e7204", "path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A2TUUIV61CR0C7:3RU7GD8VPQWCAOUZJZUV3XSRSVSSPO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.24616, 1.51726, -2.36543 ], "start_rotation": [ 0, 0.97592, 0, 0.21811 ], "object_category": "towel", "info": { "geodesic_distance": 9.49896, "euclidean_distance": 6.41897, "closest_goal_object_id": 18, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.13439, 3.51415, -8.39921 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", [ "cc896d0984cc4661bff9087a0df6967c" ], "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A272X64FOZFYLB:3DZQRBDBSNI53ZPCL1XOQUPQQ44S3T", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.73514, 3.51415, 0.22123 ], "start_rotation": [ 0, 0.32547, 0, 0.94555 ], "object_category": "sofa", "info": { "geodesic_distance": 13.56343, "euclidean_distance": 3.69555, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.19806, 0.11415, 0.26838 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A3O5RKGH6VB19C:3ZPBJO59KR4EVIDT3WR1ZP4059LHD7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.84772, 3.51415, -2.41791 ], "start_rotation": [ 0, 0.84155, 0, 0.54018 ], "object_category": "table", "info": { "geodesic_distance": 7.53147, "euclidean_distance": 5.72868, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.55423, 3.51415, 3.16667 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A3F0NFNLOLFJT0:3WRFBPLXRCR8NMX7D5G2R0FJMJ43N9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.59347, 0.11415, 0.65702 ], "start_rotation": [ 0, 0.84796, 0, -0.53006 ], "object_category": "counter", "info": { "geodesic_distance": 10.8766, "euclidean_distance": 9.52806, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.36558, 0.11415, 7.91391 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0_edge_37_newN_0", "path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", [ "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A19C2SO0IMRZ1L:39U1BHVTDNU6IZ2RA12E0ZLCPVO3TC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.84615, 0.11415, -3.91463 ], "start_rotation": [ 0, 0.08879, 0, 0.99605 ], "object_category": "plant", "info": { "geodesic_distance": 6.88206, "euclidean_distance": 4.99745, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.59102, 0.11415, -0.5916 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3GWRDHAURRNK6:3BEFOD78W8WNN0VB1I6LOQIQW15M4B", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.11509, 3.51415, 7.46081 ], "start_rotation": [ 0, 0.77236, 0, 0.63519 ], "object_category": "cushion", "info": { "geodesic_distance": 7.56955, "euclidean_distance": 6.75505, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.86429, 3.51415, 3.47031 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "0_edge_125_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3A7Y0R2P2QROKUD0IWVY59N7YB8XJL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.41529, 0.11415, 8.21973 ], "start_rotation": [ 0, 0.19516, 0, -0.98077 ], "object_category": "bathtub", "info": { "geodesic_distance": 13.75235, "euclidean_distance": 9.36179, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.78339, 0.11415, -1.06015 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AREQ43Q0T8ENT:3AMYWKA6YDPP2QK1XMEDDSR9NSOO6B", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.87018, 0.2102, 5.29151 ], "start_rotation": [ 0, 0.94723, 0, 0.32055 ], "object_category": "stool", "info": { "geodesic_distance": 6.37885, "euclidean_distance": 5.1603, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.72327, 0.11415, 0.57307 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "0_edge_3_newN_0", "path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", [ "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A3G3TIX6FEMN8R:388U7OUMF94XLSQ2NPF0YMMNYS40RM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.52625, 3.51415, 10.70861 ], "start_rotation": [ 0, 0.18201, 0, -0.9833 ], "object_category": "cushion", "info": { "geodesic_distance": 9.68521, "euclidean_distance": 8.75371, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.81754, 3.51415, 3.35713 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A1BZNPQ0H7ZSER:31T4R4OBOUJ7X113QRAEO6XO669C7W", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.30636, 3.51415, 11.7513 ], "start_rotation": [ 0, 0.98845, 0, 0.15157 ], "object_category": "cushion", "info": { "geodesic_distance": 10.81471, "euclidean_distance": 10.05377, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.82269, 3.51415, 3.3993 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A3FSDH6HUZPNQ8:33SA9F9TRZX1KEMIUQOL6AW746MWEE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.38697, 0.11415, 0.58234 ], "start_rotation": [ 0, 0.96907, 0, 0.2468 ], "object_category": "bed", "info": { "geodesic_distance": 10.5841, "euclidean_distance": 9.7533, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.03156, 0.11415, -8.02776 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "AOWW3URQNRJ6U:3PPTZCWALSNUBCHSE43SZVF4NBQQZ7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.41247, 2.29076, -3.64198 ], "start_rotation": [ 0, 0.50503, 0, -0.8631 ], "object_category": "stool", "info": { "geodesic_distance": 5.05974, "euclidean_distance": 2.58574, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.10871, 3.51415, -6.02002 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "4f07d9e99e084876b0765220888d2545", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "0_edge_84_newN_0", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "0_edge_84_newN_0", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "0_edge_84_newN_0", [ "0_edge_93_newN_1" ], "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ] }, { "episode_id": "A28HB7240OFGEW:3VZLGYJEYNDEK9I40IYKT3BXHG0ZX1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.59318, 0.11415, -3.12702 ], "start_rotation": [ 0, 0.99206, 0, -0.12575 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 1.64524, "euclidean_distance": 1.42961, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.20799, 0.11415, -3.02827 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A75XDPFNICR3T:3JW0YLFXRVJV1E89FQIRSG38R6BWWO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.82594, 0.11415, 3.75055 ], "start_rotation": [ 0, 0.80648, 0, 0.59126 ], "object_category": "sink", "info": { "geodesic_distance": 6.86956, "euclidean_distance": 6.11551, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.16724, 0.11415, 8.6735 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "AJQGWGESKQT4Y:3PMBY0YE296BBKPW5O8Y22OU10TC9C", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.60546, 0.11415, -1.93244 ], "start_rotation": [ 0, 0.99591, 0, 0.09033 ], "object_category": "plant", "info": { "geodesic_distance": 5.04906, "euclidean_distance": 4.16906, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.51656, 0.11415, -0.48865 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3L4D84MIL1VRY4DLDSDC2NZCW5LJHY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.98365, 3.51415, -7.06151 ], "start_rotation": [ 0, 0.65319, 0, 0.75719 ], "object_category": "sink", "info": { "geodesic_distance": 6.47827, "euclidean_distance": 5.24822, "closest_goal_object_id": 29, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.18135, 3.51415, -9.33179 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A1R0689JPSQ3OF:32EYX73OY2CD1E2ILWTKNTAUEHMURX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.01759, 3.51415, 3.30738 ], "start_rotation": [ 0, 0.82051, 0, -0.57163 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.18365, "euclidean_distance": 6.07439, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.43849, 3.51415, 9.25631 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] }, { "episode_id": "A2L26DMSVUEDP6:3LEP4MGT3I3445A734H5DE12A1OBD3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.32996, 3.51415, -0.23666 ], "start_rotation": [ 0, 0.59609, 0, -0.80292 ], "object_category": "sofa", "info": { "geodesic_distance": 13.23269, "euclidean_distance": 3.89104, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.05428, 0.11415, 0.06987 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "AZPZDX26SYMFY:3JV9LGBJWVHRZJ979ZNZPJ4YXI7OGX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.43411, 0.11415, 3.97587 ], "start_rotation": [ 0, 0.53283, 0, -0.84622 ], "object_category": "picture", "info": { "geodesic_distance": 3.79744, "euclidean_distance": 3.60969, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.69637, 0.11415, 7.48768 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ] }, { "episode_id": "A1BZNPQ0H7ZSER:351SEKWQS2K0NWE4UT7ERUCWMU7MD6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.09499, 3.71415, -7.05779 ], "start_rotation": [ 0, 0.99983, 0, 0.01842 ], "object_category": "cushion", "info": { "geodesic_distance": 2.88955, "euclidean_distance": 2.52656, "closest_goal_object_id": 83, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.66278, 3.51415, -9.11316 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "fed8aaa68c9b43a3b83770b4bd2324ed", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:3C8HJ7UOP9X3QXJ0MBWBIMVZDAAMZX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.36269, 3.71415, -7.46384 ], "start_rotation": [ 0, 0.22386, 0, -0.97462 ], "object_category": "plant", "info": { "geodesic_distance": 15.27505, "euclidean_distance": 12.004, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.1415, 3.51415, 4.46798 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "fed8aaa68c9b43a3b83770b4bd2324ed", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ] ] }, { "episode_id": "A26LOVXF4QZZCO:3NGI5ARFTV8CG4V56GFB7W5HOEU1PE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.60038, 0.11415, -7.63206 ], "start_rotation": [ 0, 0.90698, 0, -0.42118 ], "object_category": "towel", "info": { "geodesic_distance": 7.2322, "euclidean_distance": 6.39221, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.10339, 0.11415, -4.50896 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "76ba074e4b7a46feb3d829302db3bd2e", "path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "0_edge_58_newN_3", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A1P3HHEXWNLJMP:3OE22WJIGKRDPDNI8H4KI30PLO8UQ9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.61091, 1.87968, -2.16127 ], "start_rotation": [ 0, 0.07144, 0, -0.99745 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.06441, "euclidean_distance": 4.50112, "closest_goal_object_id": 170, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.47519, 3.51415, -2.31925 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A2TUUIV61CR0C7:3SEPORI8WP22OWABP8669V0ZJTOAZ4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.11763, 0.11415, -4.98882 ], "start_rotation": [ 0, 0.0257, 0, -0.99967 ], "object_category": "plant", "info": { "geodesic_distance": 8.08154, "euclidean_distance": 6.267, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.59154, 0.11415, -0.50262 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "AOG0PUCLMU0HH:3M1CVSFP628TA49K2CNTI2OVEL6QAJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.2702, 0.11415, 9.55074 ], "start_rotation": [ 0, 0.52052, 0, 0.85385 ], "object_category": "shower", "info": { "geodesic_distance": 24.05686, "euclidean_distance": 18.48575, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.27423, 3.51415, -8.6073 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6" ], "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "AOG0PUCLMU0HH:3EKVH9QME07AGSABKBOUCLYYGOI2DL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.42275, 3.53405, -8.11837 ], "start_rotation": [ 0, 0.77807, 0, 0.62818 ], "object_category": "chair", "info": { "geodesic_distance": 4.15719, "euclidean_distance": 3.95039, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.38316, 3.51415, -8.34455 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A2DDPSXH2X96RF:3H7XDTSHKEUZ4SI90LE96DHJJTHGWB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.95514, 0.26111, 5.56735 ], "start_rotation": [ 0, 0.98158, 0, -0.19107 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.00127, "euclidean_distance": 3.46446, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.73589, 0.11415, 6.9183 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_3_newN_0", "path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A1C8FN01981A69:3IXQG4FA2V1S1FXQROC3RIICM419BR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.22853, 3.51415, 8.85812 ], "start_rotation": [ 0, 0.95509, 0, -0.29633 ], "object_category": "counter", "info": { "geodesic_distance": 20.88748, "euclidean_distance": 18.56156, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.14733, 3.51415, -9.1213 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "c3b8b8e1f0994859869b42fb760fce9f", "path": [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", [ "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "AZPZDX26SYMFY:3COPXFW7XDFEM5HREQLTCB1HE6ZPK1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.70404, 0.09815, -1.26243 ], "start_rotation": [ 0, 0.4147, 0, -0.90996 ], "object_category": "table", "info": { "geodesic_distance": 5.08045, "euclidean_distance": 4.81431, "closest_goal_object_id": 599, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.05689, 0.11415, 2.96852 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A26LOVXF4QZZCO:3KYQYYSHYXAONZZG79MRJY114EJDO0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.09154, 3.51415, -4.56913 ], "start_rotation": [ 0, 0.99614, 0, 0.08779 ], "object_category": "stool", "info": { "geodesic_distance": 8.01126, "euclidean_distance": 6.60567, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.10473, 3.51415, -7.55702 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "71859791901b45939806508a364adf17", "path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A2TUUIV61CR0C7:3N4BPTXIOAVREAPNVCKNMHOF51NUK7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.05286, 3.51415, 7.17211 ], "start_rotation": [ 0, 0.39588, 0, 0.9183 ], "object_category": "sink", "info": { "geodesic_distance": 5.9378, "euclidean_distance": 5.6316, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.32486, 3.51415, 7.35365 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "AOMFEAWQHU3D8:3018Q3ZVOKTTM5OKFRCTNSY077GRAQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.49724, -0.08585, -11.54798 ], "start_rotation": [ 0, 0.97351, 0, 0.22866 ], "object_category": "counter", "info": { "geodesic_distance": 3.70468, "euclidean_distance": 3.49349, "closest_goal_object_id": 881, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.50069, 0.11415, -8.6349 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A3O4WYGKH31OX:3R8YZBNQ9JLBR2BMV9B98BM5X56Q72", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.72944, 0.11415, -4.94016 ], "start_rotation": [ 0, 0.00997, 0, 0.99995 ], "object_category": "stool", "info": { "geodesic_distance": 5.41082, "euclidean_distance": 4.9686, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.22325, 0.11415, -0.22799 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_93_newN_1", "0_edge_133_newN_0", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6" ], "0_edge_93_newN_1", [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "AIIOT9A7ARQZW:3HMIGG0U4N9O0I7RWOK9ZXL2KCK8Y6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.56746, 3.51415, 7.99868 ], "start_rotation": [ 0, 0.38111, 0, 0.92453 ], "object_category": "chair", "info": { "geodesic_distance": 3.68219, "euclidean_distance": 2.98163, "closest_goal_object_id": 130, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.69374, 3.51415, 5.12445 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be" ] }, { "episode_id": "A26LOVXF4QZZCO:36TFCYNS46DSTOIAUWSDTW7SLRZXHR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.45224, 1.91056, -2.67257 ], "start_rotation": [ 0, 0.88598, 0, 0.46372 ], "object_category": "table", "info": { "geodesic_distance": 4.47244, "euclidean_distance": 3.91963, "closest_goal_object_id": 678, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.21782, 0.11415, -1.34246 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3YZ8UPK3VVP9VCDZ3Z3PYYB811ACUT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.0843, 0.11415, -5.80655 ], "start_rotation": [ 0, 0.06162, 0, 0.9981 ], "object_category": "table", "info": { "geodesic_distance": 1.61056, "euclidean_distance": 1.52667, "closest_goal_object_id": 836, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.93776, 0.11415, -7.11979 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "AZPZDX26SYMFY:30LSNF239WYRO3QXCPP53IEBBS62I4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.31895, 3.51415, -8.67485 ], "start_rotation": [ 0, 0.75193, 0, 0.65924 ], "object_category": "fireplace", "info": { "geodesic_distance": 19.57384, "euclidean_distance": 13.18175, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.09588, 0.11415, 3.83762 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "a55dab7d921b47d59b1391d69fa7e464", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "fec0a4503f7d4cee8f491934eff0d498", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", [ "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c" ], "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3F90N8YVKJ4I7:3WZ36BJEV5JBLU64PUHKIIJOGELTBY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.8579, 0.11415, 9.02785 ], "start_rotation": [ 0, 0.39174, 0, 0.92008 ], "object_category": "cushion", "info": { "geodesic_distance": 6.37104, "euclidean_distance": 6.03495, "closest_goal_object_id": 628, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.49906, 0.11415, 5.05399 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ] }, { "episode_id": "A19C2SO0IMRZ1L:39KFRKBFIPYRLAU73595WJB22CTYOX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.29202, 3.51415, -5.40891 ], "start_rotation": [ 0, 0.24343, 0, 0.96992 ], "object_category": "picture", "info": { "geodesic_distance": 1.13524, "euclidean_distance": 1.03469, "closest_goal_object_id": 46, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.20866, 3.51415, -4.87949 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "refined_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ] }, { "episode_id": "AAX9LTAOIBECD:326O153BMK12B8MRDVJVEM7NGM2EDM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.12513, 3.51415, 9.80588 ], "start_rotation": [ 0, 0.04974, 0, 0.99876 ], "object_category": "counter", "info": { "geodesic_distance": 21.81754, "euclidean_distance": 19.50435, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.06896, 3.51415, -8.96625 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "c3b8b8e1f0994859869b42fb760fce9f", "path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "4ed46372db6849e28e1ed9ada35efeac", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be" ], "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f" ], "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "A3L8LSM7V7KX3T:3AWETUDC94VHUET91WYJQTOHFE2IZW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.31732, 0.11415, 11.75079 ], "start_rotation": [ 0, 0.97633, 0, -0.21627 ], "object_category": "towel", "info": { "geodesic_distance": 7.1206, "euclidean_distance": 5.40849, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.97773, 0.11415, 8.29224 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A28U7B76HLCS1U:3JAOYWH7VK74EOJ2I11X5LEHY21L9K", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.00446, 3.51415, -2.18507 ], "start_rotation": [ 0, 0.28245, 0, 0.95928 ], "object_category": "plant", "info": { "geodesic_distance": 7.61514, "euclidean_distance": 6.73035, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.13783, 3.51415, 4.41679 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A3HL2LL0LEPZT8:3VHHR074H5K005V9343DRPNBNZ5L7U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.86111, 0.11415, 11.14759 ], "start_rotation": [ 0, 0.18659, 0, -0.98244 ], "object_category": "plant", "info": { "geodesic_distance": 4.48258, "euclidean_distance": 4.19034, "closest_goal_object_id": 925, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.38204, 0.11415, 7.33318 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "176424bc97d94b12a52aefbdfb8c00d9", "path": [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A1198W1SPF1R4:3EQHHY4HQUV5R93P4KR0GD47DMD5GF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.34462, 3.51415, 9.92636 ], "start_rotation": [ 0, 0.22523, 0, 0.97431 ], "object_category": "counter", "info": { "geodesic_distance": 22.17442, "euclidean_distance": 19.48153, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.1418, 3.51415, -9.11969 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "AZPZDX26SYMFY:37XITHEISYCHFKLIZ58KTNOO7ICRCJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.49923, 3.51415, -4.60349 ], "start_rotation": [ 0, 0.86358, 0, -0.50421 ], "object_category": "stool", "info": { "geodesic_distance": 7.8467, "euclidean_distance": 6.22734, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.02675, 3.51415, -7.63758 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "71859791901b45939806508a364adf17", "path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c" ], "refined_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c" ] }, { "episode_id": "AKYXQY5IP7S0Z:33JKGHPFYEX9985HJNLHNZOQZH3MNJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.66717, 1.74424, -2.1891 ], "start_rotation": [ 0, 0.93573, 0, 0.35273 ], "object_category": "shower", "info": { "geodesic_distance": 9.4669, "euclidean_distance": 6.83691, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.296, 3.51415, -8.58311 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f" ], "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "AQ0YWEW29GSIJ:31QTRG6Q2VG96A68I5MKLJGSWBIPY6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.32859, 0.11415, -5.13823 ], "start_rotation": [ 0, 0.98993, 0, 0.14153 ], "object_category": "seating", "info": { "geodesic_distance": 6.7051, "euclidean_distance": 6.30392, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.0186, 0.11415, 0.70895 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A2TUUIV61CR0C7:3R6P78PK7ME7CBEF5G9YJTALTTKGTA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.97714, 0.11415, 10.00815 ], "start_rotation": [ 0, 0.24731, 0, -0.96894 ], "object_category": "bed", "info": { "geodesic_distance": 19.86779, "euclidean_distance": 17.96934, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.07362, 0.11415, -7.98786 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A2TUUIV61CR0C7:35L9RVQFCQL0CKOFPRHQ9P8N9PYHUB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.68493, 1.91415, -2.89265 ], "start_rotation": [ 0, 0.90189, 0, 0.43197 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.46877, "euclidean_distance": 4.61337, "closest_goal_object_id": 170, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.40976, 3.51415, -2.29214 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "AD1ILDUXZHASF:3IX2EGZR7DM4NYRO9XP6GR1JXWRRJR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.01471, -0.02872, -9.61678 ], "start_rotation": [ 0, 0.39763, 0, 0.91755 ], "object_category": "toilet", "info": { "geodesic_distance": 9.30295, "euclidean_distance": 8.55022, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.77068, 0.11415, -4.49919 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A34CQE6RGU49L7:3K9FOBBF2JMP3QNWJBK2NM913MNLNE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.95066, 0.11415, -5.41973 ], "start_rotation": [ 0, 0.88102, 0, -0.47307 ], "object_category": "towel", "info": { "geodesic_distance": 8.56731, "euclidean_distance": 5.32138, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.16618, 0.11415, -4.44691 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A3GWRDHAURRNK6:3LYA37P8ISQCIBGHVL3SHRWRE37KBF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.48461, 3.51415, -5.95929 ], "start_rotation": [ 0, 0.07953, 0, -0.99683 ], "object_category": "table", "info": { "geodesic_distance": 13.32974, "euclidean_distance": 11.4704, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.45398, 3.51415, 3.1482 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "834865d0e74042d38b796ded2488d64c", "path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c" ], "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3Y9N9SS8L0EZ1A6UOB2ZVV3QPX2D3K", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.16137, 0.11415, 9.84538 ], "start_rotation": [ 0, 0.50329, 0, 0.86412 ], "object_category": "towel", "info": { "geodesic_distance": 3.62706, "euclidean_distance": 2.54668, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.95786, 0.11415, 8.43032 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", [ "7f6caa8939ec48be91f7404a9ff10624" ], "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A26LOVXF4QZZCO:3X31TUMD7ZPMPJG7EOM4QFWXJ4NL1U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.11969, 3.51415, 10.83587 ], "start_rotation": [ 0, 0.9837, 0, -0.17983 ], "object_category": "counter", "info": { "geodesic_distance": 21.87082, "euclidean_distance": 20.11908, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.12325, 3.51415, -9.13749 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A1R0689JPSQ3OF:38SKSKU7R30XPPC5MV7AIEDKE05LIX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.41953, 3.51415, -4.45224 ], "start_rotation": [ 0, 0.97576, 0, 0.21884 ], "object_category": "sofa", "info": { "geodesic_distance": 20.38593, "euclidean_distance": 6.35554, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.17554, 0.11415, 0.22629 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76" ], "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A5WWHKD82I8UE:3Q5ZZ9ZEVQIQYUX7LMFCO0N9S1J58H", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.70012, 0.11415, 5.33025 ], "start_rotation": [ 0, 0.65646, 0, 0.75436 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.94707, "euclidean_distance": 10.31806, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.77571, 0.11415, -1.16528 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0d3a3b42009441e2a02200423049d804", "path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2TUUIV61CR0C7:3Z4AIRP3C8GHPDXWS7PS19RLRN5X1N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.84431, 0.11415, -7.18601 ], "start_rotation": [ 0, 0.67901, 0, -0.73413 ], "object_category": "cushion", "info": { "geodesic_distance": 2.12967, "euclidean_distance": 1.90688, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.03935, 0.11415, -8.68315 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "0_edge_57_newN_1", "path": [ "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A9K0CV70JWG1W:3OLQQLKKNUSFEUMJNR56HK20L8IEJN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.37044, 0.11415, 6.10746 ], "start_rotation": [ 0, 0.47307, 0, 0.88102 ], "object_category": "picture", "info": { "geodesic_distance": 1.70671, "euclidean_distance": 1.60685, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.65951, 0.11415, 7.57219 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "A2TUUIV61CR0C7:3TE3O85732B4H2TG2CJEHAF1FV22RE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.98949, 0.11415, -3.81564 ], "start_rotation": [ 0, 0.82871, 0, -0.55967 ], "object_category": "plant", "info": { "geodesic_distance": 6.76804, "euclidean_distance": 4.8249, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.44508, 0.11415, -0.38211 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A1S1K7134S2VUC:3HOSI13XH1RXJ28RH08B84P1ZSFDDN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.23965, -0.08585, -11.89529 ], "start_rotation": [ 0, 0.40591, 0, -0.91391 ], "object_category": "picture", "info": { "geodesic_distance": 5.06222, "euclidean_distance": 4.24383, "closest_goal_object_id": 832, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.68893, 0.11415, -9.27695 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A19C2SO0IMRZ1L:3JMSRU9HQKXO5PMD4GJPK8DUD0FEV5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.38974, 0.91073, -2.46717 ], "start_rotation": [ 0, 0.95562, 0, -0.29461 ], "object_category": "stool", "info": { "geodesic_distance": 3.94825, "euclidean_distance": 2.36648, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.19672, 0.11415, -0.19926 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "5a72c23b99fa40f1bcd9dfbb60340b05", "path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "refined_path": [ "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ] ] }, { "episode_id": "AIIOT9A7ARQZW:32UTUBMZ7IZQYMATUPHZJ079AW0BVM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.53108, -0.04235, -0.19331 ], "start_rotation": [ 0, 0.22118, 0, -0.97523 ], "object_category": "counter", "info": { "geodesic_distance": 10.48853, "euclidean_distance": 8.88933, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.399, 0.11415, 7.88082 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "AOMFEAWQHU3D8:3NQL1CS15TBMBU344HVJRB59FGOVYV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.18976, 0.11415, -1.06443 ], "start_rotation": [ 0, 0.29948, 0, -0.9541 ], "object_category": "fireplace", "info": { "geodesic_distance": 5.7239, "euclidean_distance": 5.35697, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.12243, 0.11415, 3.9057 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A2CWA5VQZ6IWMQ:3OS4RQUCRBI12PO3UACV1E4NM2PFBF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.20584, 0.11415, -3.87424 ], "start_rotation": [ 0, 0.53733, 0, 0.84337 ], "object_category": "toilet", "info": { "geodesic_distance": 11.3405, "euclidean_distance": 7.61541, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.70301, 0.11415, -4.40797 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A1ZE52NWZPN85P:3JV9LGBJWVHRZJ979ZNZPJ4XESHGOY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.84675, 3.51415, 11.62074 ], "start_rotation": [ 0, 0.41271, 0, 0.91086 ], "object_category": "sofa", "info": { "geodesic_distance": 27.29651, "euclidean_distance": 12.51053, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.08808, 0.11415, 0.22285 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A1NSHNH3MNFRGW:3C8HJ7UOP9X3QXJ0MBWBIMVYUCZZMI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.10519, 3.51415, -2.34918 ], "start_rotation": [ 0, 0.81337, 0, -0.58175 ], "object_category": "cushion", "info": { "geodesic_distance": 4.76015, "euclidean_distance": 4.1678, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.24961, 3.51415, 1.74694 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46" ], "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A26LOVXF4QZZCO:35GMH2SV3GKTF5DG34XBPGJMHZ0EO5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.10292, 0.11415, -2.19064 ], "start_rotation": [ 0, 0.30897, 0, 0.95107 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.73108, "euclidean_distance": 3.80567, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.86522, 0.11415, -1.13578 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2TUUIV61CR0C7:3R2UR8A0ICJ2L54XY9N3D54TWVZXO0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.23529, 0.11415, 3.98747 ], "start_rotation": [ 0, 0.87999, 0, -0.475 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.53595, "euclidean_distance": 3.19582, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.69773, 0.11415, 6.86941 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "AIOOOO5OXWXKM:3G0WWMR1UXN0UN39BGSY488UU70QN7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.69483, 0.11415, 4.5419 ], "start_rotation": [ 0, 0.98092, 0, 0.19439 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.88974, "euclidean_distance": 2.49542, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.70173, 0.11415, 6.92992 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6" ] }, { "episode_id": "A13WYZ8AXD6ODX:3MD9PLUKKKH98F40YCBBV1KZELLZND", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.58696, -0.08585, -11.28221 ], "start_rotation": [ 0, 0.30365, 0, -0.95278 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.08524, "euclidean_distance": 2.81711, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.47772, 0.11415, -8.55666 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A3B2YRXL26RPVH:36NEMU28XHGZW2EVBOC4JI1GDZOMWM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.69449, 0.11415, 5.34953 ], "start_rotation": [ 0, 0.95264, 0, -0.3041 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.95238, "euclidean_distance": 10.33451, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.81366, 0.11415, -1.12843 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0d3a3b42009441e2a02200423049d804", "path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A3K1P4SPR8XS7R:3IFS6Q0HJKMKT27V644BU0RF6PQSIL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.59801, 3.51415, 1.11462 ], "start_rotation": [ 0, 0.94506, 0, 0.32689 ], "object_category": "stool", "info": { "geodesic_distance": 7.94262, "euclidean_distance": 7.44264, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.13757, 3.51415, -5.90687 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c" ], "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:30BXRYBRP60D4ODKKRWRRDTLZA0HWI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.18993, 0.11415, -4.91654 ], "start_rotation": [ 0, 0.95655, 0, -0.29158 ], "object_category": "plant", "info": { "geodesic_distance": 7.85812, "euclidean_distance": 5.50546, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.66014, 0.11415, -0.55384 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A2DDPSXH2X96RF:33C7UALJVN1RACWOKZD0LAARWA781N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.91289, 3.51415, 12.14785 ], "start_rotation": [ 0, 0.44201, 0, -0.89701 ], "object_category": "shower", "info": { "geodesic_distance": 11.45889, "euclidean_distance": 9.813, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.11091, 3.51415, 6.20602 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "AIOOOO5OXWXKM:3U8YCDAGXRJX9RB2AAQ0TWCI1P1Q0B", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.57314, 0.11415, 8.1785 ], "start_rotation": [ 0, 0.83399, 0, -0.55178 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.92915, "euclidean_distance": 9.29898, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.79015, 0.11415, -1.13979 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2MCG5W6LHSRG9:33FOTY3KEOOTMFM11BT5NW6B6DEC1T", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.47986, 3.51415, -8.294 ], "start_rotation": [ 0, 0.90369, 0, -0.42819 ], "object_category": "counter", "info": { "geodesic_distance": 7.02739, "euclidean_distance": 4.51668, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.01422, 3.51415, -8.96601 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c" ], "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "A2TUUIV61CR0C7:31QNSG6A5TW5LYBQ9FU9MK1402J879", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.42893, 3.51415, 3.12531 ], "start_rotation": [ 0, 0.09088, 0, 0.99586 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.11874, "euclidean_distance": 6.44284, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.35598, 3.51415, 8.10995 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c" ], "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A272X64FOZFYLB:36TFCYNS46DSTOIAUWSDTW7R779HX1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.22517, 1.91415, -4.10718 ], "start_rotation": [ 0, 0.93504, 0, 0.35454 ], "object_category": "chair", "info": { "geodesic_distance": 6.01881, "euclidean_distance": 2.9468, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.81101, 3.51415, -6.07903 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A1R0689JPSQ3OF:34J10VATJH18GMSIE0F6Z0CD8ZFQII", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.58005, 3.51415, 3.48631 ], "start_rotation": [ 0, 0.68725, 0, 0.72643 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.85619, "euclidean_distance": 6.23069, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.37675, 3.51415, 9.26726 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A3GWRDHAURRNK6:36AHBNMV1TF0HD3IDWVPLPZ2F3QDY8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.05691, 0.11415, -5.67196 ], "start_rotation": [ 0, 0.53019, 0, -0.84788 ], "object_category": "stool", "info": { "geodesic_distance": 14.39846, "euclidean_distance": 5.69784, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.25209, 0.11415, -0.18322 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "0_edge_57_newN_1", "path": [ "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "0_edge_25_newN_0", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A3F90N8YVKJ4I7:3L2IS5HSFCLSMGAQSPC3E95KGH0NU2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.16559, 0.11415, 11.40418 ], "start_rotation": [ 0, 0.99994, 0, 0.01049 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 15.6024, "euclidean_distance": 12.64961, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.09211, 0.11415, -0.23362 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A1R0689JPSQ3OF:3FTOP5WARHRGN47PFK6RWV0V8490JX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.28768, 0.11415, 4.85517 ], "start_rotation": [ 0, 0.47825, 0, -0.87822 ], "object_category": "toilet", "info": { "geodesic_distance": 11.13651, "euclidean_distance": 10.06423, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.01662, 0.11415, 8.86333 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "8e63389afc02448a9d0dd695bc50253a", "path": [ "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_36_newN_2", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "0_edge_36_newN_2", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", [ "3a457e1e32504249a561c9d259e0835a" ], "0_edge_36_newN_2", [ "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ], "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A3L8LSM7V7KX3T:3YMTUJH0DUJR0VLVAF7XA4DI3QMT4F", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.2421, 3.51415, 10.98749 ], "start_rotation": [ 0, 0.37123, 0, 0.92854 ], "object_category": "stool", "info": { "geodesic_distance": 13.11448, "euclidean_distance": 8.76226, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.4444, 3.51415, 11.15227 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A2L26DMSVUEDP6:333U7HK6IBIAMO8JRWUMB2KFI1ZJDO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.61562, 3.51415, 9.21309 ], "start_rotation": [ 0, 0.368, 0, 0.92983 ], "object_category": "stool", "info": { "geodesic_distance": 11.24646, "euclidean_distance": 8.3993, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.47497, 3.51415, 11.3793 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A3L8LSM7V7KX3T:3NVC2EB65S22ZL1LK7PD8GDQQ34Y3Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.01765, 3.51415, 12.175 ], "start_rotation": [ 0, 0.69946, 0, -0.71467 ], "object_category": "picture", "info": { "geodesic_distance": 6.23925, "euclidean_distance": 5.68021, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.5626, 3.51415, 7.71523 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad" ] }, { "episode_id": "A3GWRDHAURRNK6:3K4J6M3CXGW2XFF6ZGIHOOKSP3HAGH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.34987, 1.91415, -3.3725 ], "start_rotation": [ 0, 0.93387, 0, 0.35761 ], "object_category": "chair", "info": { "geodesic_distance": 5.81359, "euclidean_distance": 5.10663, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.6118, 0.11415, -3.40585 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_58_newN_3" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3" ] }, { "episode_id": "A3TYCJO2DG3RMH:3TXWC2NHN1TRI1ES2AYYH7SCQSXS9L", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.3303, 0.11415, 11.84316 ], "start_rotation": [ 0, 0.89213, 0, 0.45177 ], "object_category": "sink", "info": { "geodesic_distance": 3.00277, "euclidean_distance": 2.852, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.9568, 0.11415, 10.95882 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", [ "176424bc97d94b12a52aefbdfb8c00d9" ], "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", [ "7f6caa8939ec48be91f7404a9ff10624" ] ] }, { "episode_id": "A2L26DMSVUEDP6:3CFVK00FWNOHW5H4KUYLLBNF811L6H", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.96676, 0.11415, 2.59358 ], "start_rotation": [ 0, 0.90222, 0, 0.43128 ], "object_category": "stool", "info": { "geodesic_distance": 3.98744, "euclidean_distance": 2.97261, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.82324, 0.11415, 0.53446 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "0_edge_3_newN_2", "path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "49b4f59afc74417d846ad8cf1634e3d8", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "AIOOOO5OXWXKM:3G0WWMR1UXN0UN39BGSY488UWFBQN0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.8756, 0.11415, -5.25885 ], "start_rotation": [ 0, 0.85802, 0, -0.51362 ], "object_category": "toilet", "info": { "geodesic_distance": 8.63646, "euclidean_distance": 4.99733, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.82592, 0.11415, -4.50529 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A182N7RLXGSCZG:3NG53N1RLXMUR4FQ51OQM6SP2GDP8R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.36728, 3.51415, 3.18829 ], "start_rotation": [ 0, 0.97951, 0, 0.20141 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.71526, "euclidean_distance": 7.02834, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.26009, 3.51415, 8.25418 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "AD1ILDUXZHASF:3OCHAWUVGQNJVEJI0HVA6ONKG0IKXK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.18069, 0.11415, -0.95336 ], "start_rotation": [ 0, 0.78329, 0, 0.62166 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.32556, "euclidean_distance": 5.57628, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.8531, 0.11415, -1.05203 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A26LOVXF4QZZCO:3DL65MZB8FIS6GGDDZOKUGP4E5GECV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.40886, 0.11415, 3.23385 ], "start_rotation": [ 0, 0.0689, 0, -0.99762 ], "object_category": "picture", "info": { "geodesic_distance": 4.52016, "euclidean_distance": 3.71361, "closest_goal_object_id": 612, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.49455, 0.11415, 5.52329 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", [ "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "AIOOOO5OXWXKM:3SUWZRL0M0G3QZ7C38BH8GXUIM0E64", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.52591, -0.08585, -11.90632 ], "start_rotation": [ 0, 0.96373, 0, -0.26688 ], "object_category": "toilet", "info": { "geodesic_distance": 11.03878, "euclidean_distance": 10.44245, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.69151, 0.11415, -4.45432 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AZPZDX26SYMFY:3J4Q2Z4UT06QHHCN3HJL0RLM3CUWQY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.57281, 3.51415, 10.95498 ], "start_rotation": [ 0, 0.98027, 0, -0.19768 ], "object_category": "table", "info": { "geodesic_distance": 6.35053, "euclidean_distance": 3.34776, "closest_goal_object_id": 235, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.36233, 3.51415, 10.20702 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ] ] }, { "episode_id": "A3GWRDHAURRNK6:3FPRZHYEP0ALVR6GFW2T1H9XMGGV3W", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.9778, 3.51415, -6.54981 ], "start_rotation": [ 0, 0.99292, 0, 0.11878 ], "object_category": "sofa", "info": { "geodesic_distance": 18.53453, "euclidean_distance": 8.16979, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.10786, 0.11415, 0.23758 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A28U7B76HLCS1U:3NL0RFNU0HQSXCV8G6T59DQMN9SK4S", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.36116, 0.11415, 2.69588 ], "start_rotation": [ 0, 0.81345, 0, -0.58163 ], "object_category": "toilet", "info": { "geodesic_distance": 9.26183, "euclidean_distance": 8.81404, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.98828, 0.11415, 8.78421 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A3L8LSM7V7KX3T:32Q90QCQ1UOAPES15C5IIZ2DXVSEKP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.27313, 3.51415, 5.0039 ], "start_rotation": [ 0, 0.35656, 0, 0.93427 ], "object_category": "counter", "info": { "geodesic_distance": 16.37844, "euclidean_distance": 15.20742, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.11524, 3.51415, -9.05037 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "463e439a4e974a00b23bfe7c684a2607", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A35NXCD0VE2I69:33PPUNGG3A8UNDWSRJSS4LP8240ZRK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.86564, 0.11415, -6.21959 ], "start_rotation": [ 0, 0.85266, 0, -0.52247 ], "object_category": "shower", "info": { "geodesic_distance": 15.47406, "euclidean_distance": 4.35908, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.27662, 3.51415, -8.52324 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "76ba074e4b7a46feb3d829302db3bd2e", "path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3MTMREQS4XLYU156ELMZAR6H2RLAWF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.63027, 3.80376, -7.80336 ], "start_rotation": [ 0, 0.85704, 0, 0.51525 ], "object_category": "plant", "info": { "geodesic_distance": 15.14278, "euclidean_distance": 12.2863, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.96064, 3.51415, 4.45429 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A74PT3GRDMEZ:337RC3OW0752BVW5L26TX33EPQ9LVH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.50873, 3.51415, 9.10428 ], "start_rotation": [ 0, 0.29865, 0, 0.95436 ], "object_category": "sink", "info": { "geodesic_distance": 6.74345, "euclidean_distance": 6.34018, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.40473, 3.51415, 7.5092 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "AIIOT9A7ARQZW:3UOUJI6MTFHXYAOUUVZCCBWIIWWXUK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.97412, 3.51415, 3.98459 ], "start_rotation": [ 0, 0.04512, 0, -0.99898 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.01188, "euclidean_distance": 6.39985, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.42155, 3.51415, 9.38961 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] }, { "episode_id": "A1NSHNH3MNFRGW:35BLDD71I80MGKD903X25IEBNIQZV6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.2038, 3.51415, 11.15236 ], "start_rotation": [ 0, 0.97781, 0, -0.20948 ], "object_category": "picture", "info": { "geodesic_distance": 1.96592, "euclidean_distance": 1.66618, "closest_goal_object_id": 308, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.3405, 3.57567, 12.396 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ] }, { "episode_id": "AZPZDX26SYMFY:3AMW0RGHOF5FUB2UB3D943IL4MHPNL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.23401, 0.11415, 3.03114 ], "start_rotation": [ 0, 0.84966, 0, 0.52733 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.37628, "euclidean_distance": 3.81496, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.70238, 0.11415, 6.94389 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3BDCF01OGZXJFPRAQDTD427876IYL8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.38976, 0.11415, -0.64724 ], "start_rotation": [ 0, 0.40493, 0, -0.91435 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.05293, "euclidean_distance": 5.38543, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.81633, 0.11415, -1.09468 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A3KC26Z78FBOJT:3LEIZ60CDL2OJD06X2S6D0PEU2T9Z8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.39272, 3.51415, -5.46926 ], "start_rotation": [ 0, 0.99014, 0, -0.14007 ], "object_category": "counter", "info": { "geodesic_distance": 5.29665, "euclidean_distance": 3.95712, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.12787, 3.51415, -8.97882 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "29f8bc9c86e94a3692ec50fbad2e7204", "path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A1ZE52NWZPN85P:39JEC7537W498R2Z8PDUUKDQE49VCG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.58814, 0.11415, 8.47892 ], "start_rotation": [ 0, 0.6488, 0, -0.76096 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.19073, "euclidean_distance": 10.79536, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.02323, 0.11415, -0.14985 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "0d3a3b42009441e2a02200423049d804", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "AD1ILDUXZHASF:3V5Q80FXIZUCY08ERMIIZCCMPC223Y", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.77804, 0.11415, 8.97132 ], "start_rotation": [ 0, 0.98603, 0, -0.16658 ], "object_category": "cushion", "info": { "geodesic_distance": 6.37078, "euclidean_distance": 6.05978, "closest_goal_object_id": 628, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.48608, 0.11415, 5.06221 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "deb99671679648e28ccf7d622051ab46" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", [ "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "deb99671679648e28ccf7d622051ab46" ] }, { "episode_id": "A2L26DMSVUEDP6:3YDTZAI2WZJQRB9M8WNN4YUNYRC41P", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.52714, 0.11415, 10.73197 ], "start_rotation": [ 0, 0.42992, 0, 0.90287 ], "object_category": "plant", "info": { "geodesic_distance": 4.06752, "euclidean_distance": 3.68034, "closest_goal_object_id": 925, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.3555, 0.11415, 7.24125 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1" ] }, { "episode_id": "A2TUUIV61CR0C7:37QW5D2ZRIPR4WVIXISKHBX1QCQS87", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.73277, 3.51415, 9.12388 ], "start_rotation": [ 0, 0.33063, 0, -0.94376 ], "object_category": "cushion", "info": { "geodesic_distance": 8.74618, "euclidean_distance": 8.30543, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.86327, 3.51415, 3.33932 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8", [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] ] }, { "episode_id": "A3T5UAYFKJBVTA:3I0BTBYZAZO6IT2O1K7U6IFK1KE0YT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.67466, 0.07859, -0.61395 ], "start_rotation": [ 0, 0.94575, 0, -0.3249 ], "object_category": "table", "info": { "geodesic_distance": 4.49205, "euclidean_distance": 4.27206, "closest_goal_object_id": 599, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.1139, 0.11415, 2.87117 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] }, { "episode_id": "A36QGCT3MMXC4Q:3NGI5ARFTV8CG4V56GFB7W5I5VJP18", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.39335, -0.00624, -1.09753 ], "start_rotation": [ 0, 0.23651, 0, 0.97163 ], "object_category": "towel", "info": { "geodesic_distance": 13.58506, "euclidean_distance": 9.57151, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.06454, 0.11415, 8.30336 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A9K0CV70JWG1W:3Y5140Z9DZJNGAR3EN0HZVM4INEIPP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.04595, 0.11415, 1.19004 ], "start_rotation": [ 0, 0.79377, 0, -0.60822 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.53284, "euclidean_distance": 7.09167, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.73415, 0.11415, 6.91499 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_37_newN_0", "path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A2TUUIV61CR0C7:386CSBG1O1PSN2XHCZ6H2XM9F4R6QL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.08637, 0.11415, 4.41403 ], "start_rotation": [ 0, 0.987, 0, -0.1607 ], "object_category": "toilet", "info": { "geodesic_distance": 7.17148, "euclidean_distance": 6.71054, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.98755, 0.11415, 8.84077 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A29CNQYJWMJ7G9:3WJEQKOXAA55T0P3HXXEH1GN6EKA1O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.39223, 3.51415, 8.43692 ], "start_rotation": [ 0, 0.78828, 0, -0.61532 ], "object_category": "sofa", "info": { "geodesic_distance": 27.84743, "euclidean_distance": 11.23778, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.08117, 0.11415, 0.11777 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "4ed46372db6849e28e1ed9ada35efeac", "path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_1", "0_edge_69_newN_0", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "0_edge_69_newN_1", "0_edge_69_newN_0", [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843" ], "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3X87C8JFV8EXA0VEJC9K32I0J3WSQ5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.51813, 0.11415, -0.04539 ], "start_rotation": [ 0, 0.80047, 0, -0.59937 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.91498, "euclidean_distance": 6.35837, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.05974, 0.11415, -6.25671 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_133_newN_0", "path": [ "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A1N3YG2X9SO4PN:3TS1AR6UQSHE0DLDHT0FWCIQN2H7F2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.89782, 3.51415, 4.55236 ], "start_rotation": [ 0, 0.24252, 0, 0.97015 ], "object_category": "shower", "info": { "geodesic_distance": 6.29697, "euclidean_distance": 1.94535, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.1081, 3.51415, 6.24013 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "AIOOOO5OXWXKM:3U0SRXB7CF806OI9OVHY9YI09IENRG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.92604, 0.11415, -7.03918 ], "start_rotation": [ 0, 0.7637, 0, 0.64557 ], "object_category": "stool", "info": { "geodesic_distance": 10.59038, "euclidean_distance": 6.98263, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.29692, 0.11415, -0.22423 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "episode_id": "A19C2SO0IMRZ1L:34J10VATJH18GMSIE0F6Z0CEO0HQI4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.65271, 0.11415, 8.20022 ], "start_rotation": [ 0, 0.99996, 0, -0.00878 ], "object_category": "cushion", "info": { "geodesic_distance": 7.89418, "euclidean_distance": 7.51207, "closest_goal_object_id": 628, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.29748, 0.11415, 4.52499 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "AQ0YWEW29GSIJ:345LHZDEDZVLICHGA6SO5V7EVSY3UV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.60705, 3.51415, 10.41243 ], "start_rotation": [ 0, 0.98086, 0, 0.19472 ], "object_category": "seating", "info": { "geodesic_distance": 25.74753, "euclidean_distance": 11.34778, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.88213, 0.11415, 0.54095 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A19C2SO0IMRZ1L:3PJUZCGDJ8J9ZHZJOCST0GSBB4Z98K", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.09297, 3.51415, 11.95886 ], "start_rotation": [ 0, 0.09316, 0, -0.99565 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.90044, "euclidean_distance": 8.02505, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.50049, 3.51415, 9.3992 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A1P3HHEXWNLJMP:32Q90QCQ1UOAPES15C5IIZ2DKLHEKH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.28027, 3.51415, -6.48797 ], "start_rotation": [ 0, 0.39026, 0, 0.92071 ], "object_category": "table", "info": { "geodesic_distance": 12.35253, "euclidean_distance": 11.21959, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.49773, 3.51415, 3.025 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1" ], "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "AQ0YWEW29GSIJ:3OF2M9AATIR809JX1ZJV393VL1GZKV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.36744, 0.02458, -0.09554 ], "start_rotation": [ 0, 0.15869, 0, 0.98733 ], "object_category": "picture", "info": { "geodesic_distance": 4.64146, "euclidean_distance": 4.09871, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.17343, 0.11415, -1.74628 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A21ZK49H9LSSRY:3PDJHANYK7JFA9YET9JNTJU8OSI6HY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.41268, 0.11415, -8.79095 ], "start_rotation": [ 0, 0.82212, 0, -0.56932 ], "object_category": "fireplace", "info": { "geodesic_distance": 14.6569, "euclidean_distance": 12.72732, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.14725, 0.11415, 3.94434 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "AIOOOO5OXWXKM:30LB5CDZNED6NJCTX69DKPOM7A50ZZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.90621, 3.51415, 7.76796 ], "start_rotation": [ 0, 0.36633, 0, 0.93049 ], "object_category": "cushion", "info": { "geodesic_distance": 3.773, "euclidean_distance": 2.80227, "closest_goal_object_id": 288, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.46696, 3.61122, 10.12723 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be" ] }, { "episode_id": "ALZVG5501Y5IX:3FTF2T8WLTLKPIV1MF8ZEWVXW8LW92", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.85842, 3.51415, -2.46546 ], "start_rotation": [ 0, 0.74985, 0, 0.66161 ], "object_category": "chair", "info": { "geodesic_distance": 6.3327, "euclidean_distance": 4.61383, "closest_goal_object_id": 117, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.99981, 3.51415, 0.87315 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c" ] }, { "episode_id": "A16K7X677N4WN6:3FE7TXL1LKQ451EGPXUECK5X2YQ2Q2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.97989, 0.11415, 4.06324 ], "start_rotation": [ 0, 0.42796, 0, 0.9038 ], "object_category": "counter", "info": { "geodesic_distance": 4.17095, "euclidean_distance": 4.12014, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.47671, 0.11415, 7.81786 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A2TUUIV61CR0C7:3X66WABAJYL2DUGLQ1371G6NYEW3G8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.99461, 0.11415, 4.59371 ], "start_rotation": [ 0, 0.51731, 0, 0.8558 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.07751, "euclidean_distance": 3.95137, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.64441, 0.11415, 6.87978 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_3_newN_1", "path": [ "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A2TUUIV61CR0C7:3MTMREQS4XLYU156ELMZAR6H2QPAWH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.52898, 3.51415, 12.40006 ], "start_rotation": [ 0, 0.99815, 0, -0.06084 ], "object_category": "cushion", "info": { "geodesic_distance": 12.00966, "euclidean_distance": 11.29122, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.73494, 3.51415, 3.30327 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "0_edge_125_newN_1" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3YOH7BII0BARRPEN02USI3QZX3WVK3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.5396, 3.51415, -6.60652 ], "start_rotation": [ 0, 0.8653, 0, -0.50126 ], "object_category": "seating", "info": { "geodesic_distance": 14.64713, "euclidean_distance": 9.28567, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.86637, 0.11415, 0.73037 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A2TUUIV61CR0C7:3IO1LGZLKB0MHYXLQ5PHG619L2W86B", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.65541, 3.51415, -7.13597 ], "start_rotation": [ 0, 0.33611, 0, -0.94182 ], "object_category": "chair", "info": { "geodesic_distance": 4.25239, "euclidean_distance": 3.86229, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.41515, 3.51415, -8.19301 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0" ], "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A272X64FOZFYLB:3OWEPKL08BFQO5YUFHJS4HRZRHXN7X", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.3115, 3.51415, 0.77221 ], "start_rotation": [ 0, 0.97576, 0, -0.21886 ], "object_category": "towel", "info": { "geodesic_distance": 6.18542, "euclidean_distance": 5.28496, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.08397, 3.51415, -2.30883 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737" ], "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ] }, { "episode_id": "AXY0D2AMLKE2A:308Q0PEVBAG2ONBWXY4KD5MPHTG9IT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.30937, 3.51415, 4.45703 ], "start_rotation": [ 0, 0.89454, 0, 0.44698 ], "object_category": "towel", "info": { "geodesic_distance": 10.90396, "euclidean_distance": 6.71848, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.03875, 3.51415, -2.34944 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A1RQLE4ZMTU22A:3VHP9MDGRPNKCUG98A8QCYA54UACFI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.76929, 0.11415, 10.57128 ], "start_rotation": [ 0, 0.53548, 0, 0.84455 ], "object_category": "stool", "info": { "geodesic_distance": 5.62786, "euclidean_distance": 4.5804, "closest_goal_object_id": 552, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.95176, 0.11415, 8.63605 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "0_edge_39_newN_1", [ "eb8781b9756346c9b97ae6d5e43b6d13" ], "4e796cd1c4594f9fb07bf8b48edf2dc2", "0_edge_84_newN_2", [ "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "episode_id": "A2DDPSXH2X96RF:358UUM7WR16B33QM8O09D1W9SB17RE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.61906, 3.51415, 10.60937 ], "start_rotation": [ 0, 0.04324, 0, 0.99906 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.76068, "euclidean_distance": 2.57064, "closest_goal_object_id": 204, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.83445, 3.51415, 8.0813 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A3T5UAYFKJBVTA:3PWWM24LHU1YZXEK33DEQTKX54882M", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.4758, 3.51415, -6.08664 ], "start_rotation": [ 0, 0.08424, 0, -0.99645 ], "object_category": "plant", "info": { "geodesic_distance": 14.5433, "euclidean_distance": 12.3602, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.90925, 3.51415, 4.39272 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981" ], "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3GWRDHAURRNK6:34V1S5K3GU4MV3GVVXVVG2WJP8L69N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.20252, 3.51415, -2.71359 ], "start_rotation": [ 0, 0.74699, 0, -0.66483 ], "object_category": "bed", "info": { "geodesic_distance": 6.35011, "euclidean_distance": 5.76309, "closest_goal_object_id": 79, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.36629, 3.51415, -6.71413 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A2TUUIV61CR0C7:31T4R4OBOUJ7X113QRAEO6XO5O67CN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.97412, 0.11415, -0.5692 ], "start_rotation": [ 0, 0.70066, 0, -0.7135 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.44798, "euclidean_distance": 5.80646, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.77736, 0.11415, -1.07415 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3M81GAB8A2MYTEEC8QNPDD81W48QBX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.32332, 3.51415, -4.45517 ], "start_rotation": [ 0, 0.97017, 0, 0.24243 ], "object_category": "counter", "info": { "geodesic_distance": 5.60126, "euclidean_distance": 4.92193, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.05964, 3.51415, -9.04109 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", [ "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "AOWW3URQNRJ6U:3J88R45B2I1K65GYD90I259JAFQPX2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.48168, 3.51415, -3.84334 ], "start_rotation": [ 0, 0.56337, 0, -0.82621 ], "object_category": "plant", "info": { "geodesic_distance": 8.43294, "euclidean_distance": 8.43294, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.09526, 3.51415, 4.50981 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "AKYXQY5IP7S0Z:3Y9N9SS8L0EZ1A6UOB2ZVV3P62P3DM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.37188, 3.70568, -7.84309 ], "start_rotation": [ 0, 0.96564, 0, -0.2599 ], "object_category": "stool", "info": { "geodesic_distance": 4.23313, "euclidean_distance": 3.65045, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.00024, 3.51415, -7.60803 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3K3R2QNK8D67XE6WRFTYW8A08PN9UK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.76004, 0.11415, -9.75015 ], "start_rotation": [ 0, 0.29219, 0, 0.95636 ], "object_category": "sink", "info": { "geodesic_distance": 2.02128, "euclidean_distance": 1.77944, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.71939, 0.11415, -8.32065 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "4f07d9e99e084876b0765220888d2545", "path": [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3B3WTRP3DD5YD2XU8VJSQPF8SX029S", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.67324, 0.11415, -3.90857 ], "start_rotation": [ 0, 0.7152, 0, -0.69892 ], "object_category": "shower", "info": { "geodesic_distance": 23.62443, "euclidean_distance": 6.78778, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.21248, 3.51415, -8.5428 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459" ], "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A272X64FOZFYLB:3N4BPTXIOAVREAPNVCKNMHOF51EKUO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.93579, 0.11415, -7.39043 ], "start_rotation": [ 0, 0.39225, 0, -0.91986 ], "object_category": "toilet", "info": { "geodesic_distance": 6.79221, "euclidean_distance": 5.70173, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.69814, 0.11415, -4.41793 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "76ba074e4b7a46feb3d829302db3bd2e", "path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A9K0CV70JWG1W:35H6S234SC33UGEJS7IE4MRIIWD65S", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.74201, 0.11415, 0.13414 ], "start_rotation": [ 0, 0.30875, 0, -0.95114 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.66007, "euclidean_distance": 7.16863, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.09813, 0.11415, -6.1499 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A1J3ON3YLGJAM6:3NKQQ8O3908J04JD3VY0I4TQ2FLUDI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.88622, 0.11415, -4.75443 ], "start_rotation": [ 0, 0.94267, 0, -0.33373 ], "object_category": "sofa", "info": { "geodesic_distance": 14.10911, "euclidean_distance": 6.14832, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.19276, 0.11415, 0.15367 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0" ], "refined_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0" ] ] }, { "episode_id": "A1RQLE4ZMTU22A:39GHHAVOMHUXMSPQYLTT8YQ8RV3J46", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.10174, 3.51415, 3.04628 ], "start_rotation": [ 0, 0.99809, 0, 0.06176 ], "object_category": "towel", "info": { "geodesic_distance": 8.3111, "euclidean_distance": 6.71481, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.02186, 3.51415, -2.37027 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c" ], "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A2TUUIV61CR0C7:3QEMNNSB2Z2H2T7HQN5P8CF6RBR7D7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.45355, 3.51415, 8.00282 ], "start_rotation": [ 0, 0.84596, 0, -0.53325 ], "object_category": "sofa", "info": { "geodesic_distance": 24.20008, "euclidean_distance": 9.77458, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.0217, 0.11415, 0.12444 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "8919ba4762914e899c88536f11c7bb92", "path": [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "0_edge_58_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", [ "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "AOG0PUCLMU0HH:32M8BPYGAVPH3XY4B4AU5M8CI7BIGS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.1206, 0.11415, 2.43803 ], "start_rotation": [ 0, 0.90676, 0, 0.42164 ], "object_category": "toilet", "info": { "geodesic_distance": 12.12458, "euclidean_distance": 11.10742, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.96005, 0.11415, 8.75468 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "64fdd371adc042558d30fa9bd00a00f5", "path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", [ "64fdd371adc042558d30fa9bd00a00f5" ], "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", [ "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A2L26DMSVUEDP6:3GNCZX450KQ8AS852Z84IXYKS4AAPD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.55175, 0.11415, -4.2279 ], "start_rotation": [ 0, 0.9599, 0, -0.28036 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.65561, "euclidean_distance": 8.77226, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.75767, 0.11415, -1.06193 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A1R0689JPSQ3OF:3R2PKQ87NYBHV7UQM78PIRS8YTQMIP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.65456, -0.08585, -11.96836 ], "start_rotation": [ 0, 0.53548, 0, 0.84455 ], "object_category": "picture", "info": { "geodesic_distance": 5.36067, "euclidean_distance": 4.76159, "closest_goal_object_id": 832, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.59782, 0.11415, -9.17841 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3LWJHTCVCEPO6VQSDS9LW3ZM8EPFQE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.86432, 3.51415, 9.95032 ], "start_rotation": [ 0, 0.99445, 0, -0.10517 ], "object_category": "sofa", "info": { "geodesic_distance": 25.27066, "euclidean_distance": 10.71233, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.03711, 0.11415, 0.16212 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3EICBYG646Z0HW25R0ZBRW2X0T5JCT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.43672, 3.51415, 8.92088 ], "start_rotation": [ 0, 0.8206, 0, -0.57151 ], "object_category": "towel", "info": { "geodesic_distance": 16.75334, "euclidean_distance": 11.18357, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.08712, 3.51415, -2.37721 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "c3b8b8e1f0994859869b42fb760fce9f", "path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "dbce7eccf4a140338da926d313e07b5c", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be" ], "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f" ], "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", [ "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A3FSDH6HUZPNQ8:33CKWXB73LN9ZCC3LE4L60NKZ7Y11I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.89662, -0.08585, -12.13118 ], "start_rotation": [ 0, 0.67637, 0, -0.73656 ], "object_category": "shower", "info": { "geodesic_distance": 22.41333, "euclidean_distance": 6.59499, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.22135, 3.51415, -8.6658 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ] }, { "episode_id": "A19C2SO0IMRZ1L:34FNN24DCOC5D0OPYQD6NDBBLKKY5U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.38521, 3.51415, -4.30929 ], "start_rotation": [ 0, 0.37155, 0, -0.92841 ], "object_category": "cushion", "info": { "geodesic_distance": 6.45908, "euclidean_distance": 5.74958, "closest_goal_object_id": 83, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.59077, 3.51415, -9.0834 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A3L8LSM7V7KX3T:3IX2EGZR7DM4NYRO9XP6GR1IH7URJY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.90151, 3.51415, 7.07187 ], "start_rotation": [ 0, 0.98645, 0, -0.16406 ], "object_category": "seating", "info": { "geodesic_distance": 24.40013, "euclidean_distance": 9.42124, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.96442, 0.11415, 0.71864 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A1R0689JPSQ3OF:3AWETUDC94VHUET91WYJQTOIW1EIZ1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.25193, 3.63958, -7.61142 ], "start_rotation": [ 0, 0.12039, 0, -0.99273 ], "object_category": "table", "info": { "geodesic_distance": 15.18494, "euclidean_distance": 10.70086, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.58112, 3.51415, 3.09098 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", [ "0_edge_82_newN_0" ], "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A16184N1RO5OJV:3PH3VY7DJN0ZV9DEQD2YRKXQ8KBWZY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.89046, 3.56104, -8.27059 ], "start_rotation": [ 0, 0.88232, 0, 0.47065 ], "object_category": "plant", "info": { "geodesic_distance": 14.61673, "euclidean_distance": 12.76439, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.07432, 3.51415, 4.43273 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ] }, { "episode_id": "AKYXQY5IP7S0Z:3A7Y0R2P2QROKUD0IWVY59N7YBLXJY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.42029, 3.51415, -5.66883 ], "start_rotation": [ 0, 0.77764, 0, 0.62871 ], "object_category": "towel", "info": { "geodesic_distance": 4.13291, "euclidean_distance": 3.85703, "closest_goal_object_id": 18, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.65541, 3.51415, -8.35689 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "834865d0e74042d38b796ded2488d64c", "path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A1NSHNH3MNFRGW:3WOKGM4L73JUOFYMVXYW4RHIAT7O0N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.93772, 0.11415, -7.47597 ], "start_rotation": [ 0, 0.91254, 0, 0.409 ], "object_category": "seating", "info": { "geodesic_distance": 10.74618, "euclidean_distance": 9.58867, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.82519, 0.11415, 0.68536 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A16184N1RO5OJV:37TD41K0AJCTGZLVEU8PJXTKTPVCS2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.62066, 0.11415, -9.28978 ], "start_rotation": [ 0, 0.79207, 0, -0.61043 ], "object_category": "sofa", "info": { "geodesic_distance": 14.36572, "euclidean_distance": 10.43367, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.16672, 0.11415, 0.2448 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "f4d601b86e624ad2a8d77280f36c7872", "path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "dbec0f4e228c44cda1f991905404541c", "0_edge_25_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0" ], "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A1P3HHEXWNLJMP:3M1CVSFP628TA49K2CNTI2OUX8EAQ2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.30401, 3.51415, -8.91271 ], "start_rotation": [ 0, 0.45275, 0, 0.89164 ], "object_category": "toilet", "info": { "geodesic_distance": 4.8173, "euclidean_distance": 4.52097, "closest_goal_object_id": 50, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.16742, 3.51415, -5.6232 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "cf7c2bd80f934238aede140bb9bd1284", "path": [ "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "AOMFEAWQHU3D8:3ND9UOO81M5FQKWABCBPJ5MSW2PWLM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.76181, 0.11415, 12.51871 ], "start_rotation": [ 0, 0.88171, 0, -0.47179 ], "object_category": "stool", "info": { "geodesic_distance": 4.38232, "euclidean_distance": 3.99988, "closest_goal_object_id": 552, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.82346, 0.11415, 8.62189 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "0_edge_84_newN_2", "path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "0_edge_84_newN_2", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "A2FUNB3BUB3U07:3IAS3U3I0HJH1VCR6FXOHVAYG1Q2BX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.31211, 0.11415, -7.52705 ], "start_rotation": [ 0, 0.27314, 0, 0.96198 ], "object_category": "toilet", "info": { "geodesic_distance": 5.42829, "euclidean_distance": 4.67338, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.82619, 0.11415, -4.54758 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A1198W1SPF1R4:3VD82FOHKSREI7T27DRGZSJJZRHOCR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.70313, 3.51415, -1.31402 ], "start_rotation": [ 0, 0.92302, 0, 0.38474 ], "object_category": "stool", "info": { "geodesic_distance": 5.52685, "euclidean_distance": 5.16896, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.91417, 3.51415, -5.87501 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "18ea875fed1b4dc99363420c08cb4300", "path": [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A3L8LSM7V7KX3T:3OHYZ19UGE8QPSW4NZVPTXTUGWKAOU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.14363, 3.51415, 3.02701 ], "start_rotation": [ 0, 0.45532, 0, -0.89033 ], "object_category": "fireplace", "info": { "geodesic_distance": 22.09865, "euclidean_distance": 6.09407, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.13803, 0.11415, 3.8421 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3ON104KXQMZJSCPP5KC8XOKHADY4WZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.95274, 3.51415, 9.61932 ], "start_rotation": [ 0, 0.57971, 0, 0.81482 ], "object_category": "counter", "info": { "geodesic_distance": 21.0247, "euclidean_distance": 18.91788, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.13314, 3.51415, -9.11678 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A3L8LSM7V7KX3T:3J88R45B2I1K65GYD90I259ITSZPXI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.1729, 3.51415, 7.94314 ], "start_rotation": [ 0, 0.63879, 0, 0.76939 ], "object_category": "towel", "info": { "geodesic_distance": 13.47719, "euclidean_distance": 11.44341, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.95691, 3.51415, -2.31513 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "416df61743e24e828609f0698df3f51b", "path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "7e1850bf73f24a7f9ab824a82143e1b6", "0_edge_125_newN_2", "0_edge_125_newN_1", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b" ], "0_edge_125_newN_2", "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A3HL2LL0LEPZT8:3OJSZ2ATDUZMYGSOBHN6A0REHMU75N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.09566, 3.51415, -5.35618 ], "start_rotation": [ 0, 0.91797, 0, -0.39664 ], "object_category": "table", "info": { "geodesic_distance": 16.93402, "euclidean_distance": 8.45008, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.41575, 3.51415, 3.13566 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A3T5UAYFKJBVTA:3YT88D1N0A17FGC4GSOMZ8YG6HP3KW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.62741, 3.52332, -8.55082 ], "start_rotation": [ 0, 0.97559, 0, 0.21958 ], "object_category": "table", "info": { "geodesic_distance": 15.58521, "euclidean_distance": 11.66583, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.5331, 3.51415, 3.08782 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "AOG0PUCLMU0HH:3IQ1VMJRYVNNI5SYLAC7W7Y61ND9AS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.73, 0.0758, 0.6068 ], "start_rotation": [ 0, 0.94824, 0, -0.31754 ], "object_category": "toilet", "info": { "geodesic_distance": 11.99466, "euclidean_distance": 8.41095, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.96045, 0.11415, 8.87787 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A16K7X677N4WN6:3Z2R0DQ0JJHF8YOBG6ZEI3GJJYP2EJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.77642, 3.71415, -7.049 ], "start_rotation": [ 0, 0.02378, 0, -0.99972 ], "object_category": "cushion", "info": { "geodesic_distance": 2.97398, "euclidean_distance": 2.73666, "closest_goal_object_id": 83, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.49123, 3.51415, -9.08579 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A2TUUIV61CR0C7:369J354OFFD1AD3393158JI79RA6G2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.8093, 3.70904, -8.47943 ], "start_rotation": [ 0, 0.14717, 0, -0.98911 ], "object_category": "table", "info": { "geodesic_distance": 14.42041, "euclidean_distance": 11.57439, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.55951, 3.51415, 3.01033 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "AYYSG3O9FNU15:3NGI5ARFTV8CG4V56GFB7W5HOFZP19", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.95661, 0.11415, -0.82619 ], "start_rotation": [ 0, 0.99847, 0, -0.05535 ], "object_category": "sink", "info": { "geodesic_distance": 8.21437, "euclidean_distance": 7.14193, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.72426, 0.11415, -8.01969 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] ] }, { "episode_id": "A3V8LIMUUJWUTL:333U7HK6IBIAMO8JRWUMB2KF5OVJDH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.51787, 3.51415, -5.41762 ], "start_rotation": [ 0, 0.1848, 0, -0.98278 ], "object_category": "sofa", "info": { "geodesic_distance": 15.83213, "euclidean_distance": 7.83511, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.21439, 0.11415, 0.25473 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "834865d0e74042d38b796ded2488d64c", "path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "refined_path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ] ] }, { "episode_id": "AJQGWGESKQT4Y:37WLF8U1WRT6CZZMZUMK6BA03R7K6O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.19935, 3.51855, -9.15495 ], "start_rotation": [ 0, 0.32059, 0, -0.94722 ], "object_category": "sofa", "info": { "geodesic_distance": 17.61638, "euclidean_distance": 10.34953, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.04762, 0.11415, 0.08376 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A3K1P4SPR8XS7R:3ND9UOO81M5FQKWABCBPJ5MSTZ8WLW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.26932, 0.11415, -0.65767 ], "start_rotation": [ 0, 0.91877, 0, -0.39479 ], "object_category": "sink", "info": { "geodesic_distance": 12.99254, "euclidean_distance": 9.78634, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.89146, 0.11415, -7.96123 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "e28810ab6e9745f89e3b124320caf5a8", "path": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7cdc2565c773401289b95360da22e017" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "AIOOOO5OXWXKM:35USIKEBNTJ7K5KPW7E0Y3R3WFC6NY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.81845, 0.11415, -5.93567 ], "start_rotation": [ 0, 0.72032, 0, -0.69364 ], "object_category": "chair", "info": { "geodesic_distance": 1.78521, "euclidean_distance": 1.69777, "closest_goal_object_id": 827, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.28213, 0.11415, -5.6519 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "6d51167d46ea4b47b9c7e9afb12ed459", "path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A1S0N5BIXAQO8I:3M68NM076JASZ3CHPEVH7NWDVUBR6F", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.26177, 0.11415, -0.43297 ], "start_rotation": [ 0, 0.87679, 0, -0.48087 ], "object_category": "bed", "info": { "geodesic_distance": 12.87946, "euclidean_distance": 7.83419, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.95112, 0.11415, -7.99922 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A1F6MWP9A0XLJQ:36U2A8VAG328VJ9S5DHCP2UTIA0YK0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.79647, 0.11415, -3.39605 ], "start_rotation": [ 0, 0.95346, 0, -0.30151 ], "object_category": "bed", "info": { "geodesic_distance": 7.38576, "euclidean_distance": 6.99174, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.01627, 0.11415, -7.99218 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A16K7X677N4WN6:3WMOAN2SRD0SZVZQXFM8AV73UPKVNC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.39995, 3.51415, 10.10159 ], "start_rotation": [ 0, 0.98443, 0, -0.17575 ], "object_category": "sofa", "info": { "geodesic_distance": 23.62825, "euclidean_distance": 10.51628, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.10535, 0.11415, 0.20526 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ] ] }, { "episode_id": "A1NKBXOTZAI1YK:3S0TNUHWKVLL27C00SXVMCB11818DO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.06631, 0.11415, 3.96887 ], "start_rotation": [ 0, 0.37084, 0, -0.9287 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.43323, "euclidean_distance": 2.92087, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.73091, 0.11415, 6.8242 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "AMX5R6NLYNA2K:308Q0PEVBAG2ONBWXY4KD5MPE649I4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.98639, 3.28902, -3.84025 ], "start_rotation": [ 0, 0.37437, 0, 0.92728 ], "object_category": "fireplace", "info": { "geodesic_distance": 13.5101, "euclidean_distance": 8.47268, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.13027, 0.11415, 3.91531 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", [ "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "episode_id": "A2MCG5W6LHSRG9:3MAOD8E57SDK3K4LXUNQYG4OAY1XNM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.4225, 3.51415, -2.70334 ], "start_rotation": [ 0, 0.98142, 0, -0.19185 ], "object_category": "toilet", "info": { "geodesic_distance": 11.99219, "euclidean_distance": 2.90399, "closest_goal_object_id": 50, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.18319, 3.51415, -5.58374 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A13WYZ8AXD6ODX:37W3JXSD68BZQJ39UR0FDDOO5ELWY0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.27059, 3.51415, -6.29327 ], "start_rotation": [ 0, 0.97333, 0, 0.22943 ], "object_category": "sink", "info": { "geodesic_distance": 3.40291, "euclidean_distance": 3.2385, "closest_goal_object_id": 29, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.17194, 3.51415, -9.34083 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A2O65E9TOSX7GV:39GXDJN2OVH7WOCMRDXPSYH82XWV82", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.81272, 3.65959, -7.72901 ], "start_rotation": [ 0, 0.28401, 0, -0.95882 ], "object_category": "stool", "info": { "geodesic_distance": 3.10747, "euclidean_distance": 2.20501, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.10266, 3.51415, -7.54663 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A2O65E9TOSX7GV:3ZWFC4W1UWAOIW5SQ7YL1T9R4OQRF2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.35715, 3.51415, -5.69454 ], "start_rotation": [ 0, 0.03414, 0, -0.99942 ], "object_category": "toilet", "info": { "geodesic_distance": 9.04721, "euclidean_distance": 6.13118, "closest_goal_object_id": 50, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.20289, 3.51415, -5.53355 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "834865d0e74042d38b796ded2488d64c", "path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A1P3HHEXWNLJMP:3QBD8R3Z23MBN3GNEYLYGU7V7BE4O2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.35685, 3.51415, 5.97695 ], "start_rotation": [ 0, 0.49803, 0, -0.86716 ], "object_category": "towel", "info": { "geodesic_distance": 11.24321, "euclidean_distance": 9.32251, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.10273, 3.51415, -2.29387 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "7e1850bf73f24a7f9ab824a82143e1b6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A272X64FOZFYLB:37U1UTWH9XPF3HV5ITSFR1S54BH8RB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.59062, 3.51415, 11.58919 ], "start_rotation": [ 0, 0.72126, 0, 0.69267 ], "object_category": "sofa", "info": { "geodesic_distance": 26.479, "euclidean_distance": 12.46007, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.03631, 0.11415, 0.20982 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "AKYXQY5IP7S0Z:3SB4CE2TJXYDJ1AWOQILCAKO8P2XAV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.64794, 0.11415, 7.83401 ], "start_rotation": [ 0, 0.86812, 0, -0.49635 ], "object_category": "toilet", "info": { "geodesic_distance": 1.83702, "euclidean_distance": 1.58754, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.98461, 0.11415, 8.76586 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A3KC26Z78FBOJT:37ZHEEHM6YPJK15KXYZDV3TTKHD734", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.95882, 0.11415, 12.02283 ], "start_rotation": [ 0, 0.04243, 0, -0.9991 ], "object_category": "sink", "info": { "geodesic_distance": 3.39594, "euclidean_distance": 3.26381, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.99171, 0.11415, 10.73784 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3180JW2OT6FFIBTQCQC3DQWNS7TJ55", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.08543, 0.11415, -2.68119 ], "start_rotation": [ 0, 0.28605, 0, -0.95822 ], "object_category": "sofa", "info": { "geodesic_distance": 3.212, "euclidean_distance": 3.03834, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.111, 0.11415, 0.13094 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "AQ0YWEW29GSIJ:373ERPL3YQBY11NTLR3AIXOSUM0RTP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.14557, 0.11415, -4.66589 ], "start_rotation": [ 0, 0.95246, 0, -0.30466 ], "object_category": "shower", "info": { "geodesic_distance": 14.89566, "euclidean_distance": 6.02443, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.20503, 3.51415, -8.54803 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "AIIOT9A7ARQZW:3URFVVM167LM35O9VDNX9WCTNYCZU2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.5831, 0.11415, -3.81771 ], "start_rotation": [ 0, 0.76655, 0, 0.64219 ], "object_category": "bed", "info": { "geodesic_distance": 6.49657, "euclidean_distance": 6.12368, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.98628, 0.11415, -7.97861 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A19C2SO0IMRZ1L:3EFE17QCRE8KX7WB0MMQUOQ098JSHV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.79618, 3.51415, 9.85518 ], "start_rotation": [ 0, 0.35753, 0, -0.9339 ], "object_category": "cushion", "info": { "geodesic_distance": 8.85349, "euclidean_distance": 8.21747, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.77769, 3.51415, 3.29029 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A2TUUIV61CR0C7:3K2755HG5U6UHMMN8631W4SNPN1FDM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.71483, 0.11415, -7.74691 ], "start_rotation": [ 0, 0.77921, 0, 0.62677 ], "object_category": "toilet", "info": { "geodesic_distance": 5.10698, "euclidean_distance": 4.53951, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.78672, 0.11415, -4.39266 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A19C2SO0IMRZ1L:3N4BPTXIOAVREAPNVCKNMHOGI8EUKR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.81007, 0.19902, 5.20079 ], "start_rotation": [ 0, 0.48094, 0, 0.87675 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.95576, "euclidean_distance": 6.32031, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.75465, 0.11415, -1.0464 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0_edge_3_newN_0", "path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A75XDPFNICR3T:3MB8LZR5BHWOVK2TMYSMVUSX64YKLB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.32197, 3.51415, -0.15472 ], "start_rotation": [ 0, 0.10707, 0, 0.99425 ], "object_category": "fireplace", "info": { "geodesic_distance": 17.24783, "euclidean_distance": 5.61245, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.14901, 0.11415, 3.96274 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", [ "5e102e6df0e544578c407d3b4373f737" ], "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A19C2SO0IMRZ1L:3I02618YA29SP1M384PVIYAFDT8PUY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.60669, 3.51415, 10.33145 ], "start_rotation": [ 0, 0.71893, 0, 0.69509 ], "object_category": "picture", "info": { "geodesic_distance": 3.26507, "euclidean_distance": 2.81216, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.46001, 3.51415, 7.72047 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad" ] }, { "episode_id": "A2L26DMSVUEDP6:3R9WASFE21JXKNRJ0OSYNWBQD56FZG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.25274, 0.11415, -0.70955 ], "start_rotation": [ 0, 0.90398, 0, 0.42756 ], "object_category": "picture", "info": { "geodesic_distance": 2.33309, "euclidean_distance": 2.14631, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.11316, 0.11415, -1.86956 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ] ] }, { "episode_id": "A2TUUIV61CR0C7:340UGXU9D045ULJZUGYUOQZXZHPUV4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.33139, 3.51415, 12.35256 ], "start_rotation": [ 0, 0.99979, 0, -0.02048 ], "object_category": "counter", "info": { "geodesic_distance": 24.99864, "euclidean_distance": 22.0701, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.07838, 3.51415, -9.00509 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A1198W1SPF1R4:3DH6GAKTY0S3KE8E5EKMCHI6I5IYZV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.47335, 3.51415, -6.68531 ], "start_rotation": [ 0, 0.88815, 0, 0.45956 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.71973, "euclidean_distance": 3.82049, "closest_goal_object_id": 10, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.12635, 3.51415, -8.67564 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A7XL1V3G7C2VV:3OWEPKL08BFQO5YUFHJS4HRZRLO7NG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.89965, 0.11415, -0.09021 ], "start_rotation": [ 0, 0.96798, 0, -0.25105 ], "object_category": "sink", "info": { "geodesic_distance": 9.49732, "euclidean_distance": 8.04536, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.75871, 0.11415, -7.9764 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3IX2EGZR7DM4NYRO9XP6GR1J0YYJRX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.13209, 3.51415, -0.69907 ], "start_rotation": [ 0, 0.41254, 0, 0.91094 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.47642, "euclidean_distance": 4.52493, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.80708, 3.51415, -4.9696 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A3NFGEUZAH9V5G:3WI0P0II63VRKCRWZ13VDT65EYYRD9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.57723, 0.11415, 7.84189 ], "start_rotation": [ 0, 0.84601, 0, 0.53317 ], "object_category": "bed", "info": { "geodesic_distance": 17.19222, "euclidean_distance": 16.00162, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.96277, 0.11415, -7.98305 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "55f38bb2e60d46f49803ff9fc3911b28", "path": [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "refined_path": [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "9dfb6ed5ed7b47b199d8aa7e5b34727a", [ "6043285f84fe401d97d017c42b426fd6" ], "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ] }, { "episode_id": "A1P3HHEXWNLJMP:3YMU66OBIPBH72NK5MS95A7XI07GHK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.54387, 0.14625, 4.97912 ], "start_rotation": [ 0, 0.37774, 0, 0.92591 ], "object_category": "bed", "info": { "geodesic_distance": 16.31984, "euclidean_distance": 13.02113, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.96566, 0.11415, -8.01115 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_3_newN_0", "path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A2L26DMSVUEDP6:3PXX5PX6LZ166Y7VJUQ3NDTWPCIABJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.03379, 3.51415, 2.40759 ], "start_rotation": [ 0, 0.27225, 0, -0.96223 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.47033, "euclidean_distance": 8.05155, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.26413, 3.51415, 8.07511 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "A272X64FOZFYLB:3SNLUL3WO6Q2YG75GCWO1H1USEJLUG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.03469, 0.11415, 9.23523 ], "start_rotation": [ 0, 0.60964, 0, -0.79268 ], "object_category": "towel", "info": { "geodesic_distance": 8.49862, "euclidean_distance": 8.0509, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.97857, 0.11415, 8.41238 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ] }, { "episode_id": "A272X64FOZFYLB:3MMN5BL1W17254C71412ELQKI2O3MO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.97369, 0.11415, 2.52329 ], "start_rotation": [ 0, 0.99303, 0, 0.11783 ], "object_category": "table", "info": { "geodesic_distance": 1.15905, "euclidean_distance": 1.05408, "closest_goal_object_id": 649, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.87679, 0.11415, 2.16094 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "0_edge_58_newN_3", "path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] }, { "episode_id": "A2Q6L9LKSNU7EB:323Q6SJS8KJBT2RPU2MRNP7L45BHFH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.7851, 3.51415, 3.82596 ], "start_rotation": [ 0, 0.54159, 0, -0.84064 ], "object_category": "stool", "info": { "geodesic_distance": 11.93906, "euclidean_distance": 11.07772, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.15476, 3.51415, -5.82815 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A5A14MTB35J23:3IXEICO794M5FIP9T30C72XWZ9CT64", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.18415, 0.11415, 8.47749 ], "start_rotation": [ 0, 0.72753, 0, -0.68607 ], "object_category": "towel", "info": { "geodesic_distance": 2.61667, "euclidean_distance": 2.16356, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.9191, 0.11415, 8.40263 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "6cc97300dcd2469c82449756fef5cffd", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", [ "176424bc97d94b12a52aefbdfb8c00d9" ], "6cc97300dcd2469c82449756fef5cffd", [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "AKYXQY5IP7S0Z:3MHW492WW2GMHDEQLE78XGI3M8MMVU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.96422, 3.70333, -6.88166 ], "start_rotation": [ 0, 0.61463, 0, -0.78881 ], "object_category": "fireplace", "info": { "geodesic_distance": 21.73117, "euclidean_distance": 11.82341, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.18742, 0.11415, 3.90644 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A1P3HHEXWNLJMP:3J2UYBXQQNF4Z9SIV1C2NRVR2ZT60L", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.50137, 0.11415, 8.1003 ], "start_rotation": [ 0, 0.18651, 0, -0.98245 ], "object_category": "counter", "info": { "geodesic_distance": 6.15055, "euclidean_distance": 5.3493, "closest_goal_object_id": 418, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.34, 0.11415, 11.48479 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A1NSHNH3MNFRGW:3ZWFC4W1UWAOIW5SQ7YL1T9RRI1RFO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.56004, -0.08585, 0.63399 ], "start_rotation": [ 0, 0.99981, 0, -0.0197 ], "object_category": "fireplace", "info": { "geodesic_distance": 9.52583, "euclidean_distance": 8.86991, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.13853, 0.11415, 5.15168 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3T5UAYFKJBVTA:3YT88D1N0A17FGC4GSOMZ8YGTWD3K1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.30294, 0.11415, -5.25494 ], "start_rotation": [ 0, 0.56245, 0, 0.82683 ], "object_category": "cushion", "info": { "geodesic_distance": 5.23191, "euclidean_distance": 4.37608, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.97542, 0.11415, -8.70063 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c" ], "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ] ] }, { "episode_id": "A9K0CV70JWG1W:3LJ7UR74RJGT5IGBDJLL157QH00N4V", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.98554, 0.11415, 1.68263 ], "start_rotation": [ 0, 0.26319, 0, 0.96474 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.71984, "euclidean_distance": 5.18477, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.65773, 0.11415, 6.89326 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A2Q6L9LKSNU7EB:32UTUBMZ7IZQYMATUPHZJ078WJ6BVM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.67659, 3.63377, -6.99268 ], "start_rotation": [ 0, 0.74085, 0, -0.67167 ], "object_category": "chair", "info": { "geodesic_distance": 3.49398, "euclidean_distance": 2.95023, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.40372, 3.51415, -8.28202 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981" ] }, { "episode_id": "A19C2SO0IMRZ1L:3OUYGIZWR91C9FANAXBBTRM8X95P06", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.97531, 3.82745, -7.74406 ], "start_rotation": [ 0, 0.92446, 0, -0.38129 ], "object_category": "chair", "info": { "geodesic_distance": 2.83049, "euclidean_distance": 2.45747, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.29775, 3.51415, -8.29007 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3Z4XG4ZF4AUZ0DHHRSY7GJES2DN8XT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.63252, -0.08585, -11.22828 ], "start_rotation": [ 0, 0.96258, 0, 0.271 ], "object_category": "seating", "info": { "geodesic_distance": 14.38125, "euclidean_distance": 11.9041, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.82512, 0.11415, 0.69939 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315" ], "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A3L8LSM7V7KX3T:3U5NZHP4LT5NKFGJ85IWZJLO539HPC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.87531, 0.11415, 3.82527 ], "start_rotation": [ 0, 0.99133, 0, 0.13138 ], "object_category": "picture", "info": { "geodesic_distance": 3.93822, "euclidean_distance": 3.65861, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.57254, 0.11415, 7.54847 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ] }, { "episode_id": "A1P3HHEXWNLJMP:3DI28L7YXCH8JD6FX2Z0DK6EOP0E1U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.32838, 0.03355, -0.32789 ], "start_rotation": [ 0, 0.9947, 0, -0.10279 ], "object_category": "sink", "info": { "geodesic_distance": 11.35721, "euclidean_distance": 8.32152, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.73927, 0.11415, -8.03631 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A3L8LSM7V7KX3T:3ZY8KE4ISL6D2SCID7EPEP27G7NVQ8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.03032, 3.51415, -4.92983 ], "start_rotation": [ 0, 0.73617, 0, 0.6768 ], "object_category": "table", "info": { "geodesic_distance": 12.85884, "euclidean_distance": 10.38282, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.57121, 3.51415, 3.09649 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "834865d0e74042d38b796ded2488d64c", "path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "refined_path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ] ] }, { "episode_id": "A1NKBXOTZAI1YK:3PQ8K71NHZN1NO23DGQ7S29Q743AAE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.56718, 0.11415, -4.21849 ], "start_rotation": [ 0, 0.7079, 0, 0.70631 ], "object_category": "sink", "info": { "geodesic_distance": 7.28019, "euclidean_distance": 4.86646, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.69913, 0.11415, -8.04909 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A272X64FOZFYLB:3OSWBBLG1G0BH8D8809N2BSUT4EXD0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.45917, 3.51415, -7.16846 ], "start_rotation": [ 0, 0.75781, 0, -0.65247 ], "object_category": "plant", "info": { "geodesic_distance": 17.28098, "euclidean_distance": 11.74054, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.95521, 3.51415, 4.32619 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "5cd8a7aa73d841a4b540b19cf91de719", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "5cd8a7aa73d841a4b540b19cf91de719", [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3U84XHCDIEGNM7UUG7WFWSEZRFIZ40", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.09094, 0.11415, -5.2529 ], "start_rotation": [ 0, 0.99997, 0, -0.00751 ], "object_category": "towel", "info": { "geodesic_distance": 1.02149, "euclidean_distance": 0.7114, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.20049, 0.11415, -4.46193 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "6d51167d46ea4b47b9c7e9afb12ed459", "path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459" ], "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A3K1P4SPR8XS7R:3IXQG4FA2V1S1FXQROC3RIICJAE9BD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.25975, 3.51415, -0.87707 ], "start_rotation": [ 0, 0.34938, 0, 0.93698 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.44567, "euclidean_distance": 4.76197, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.8974, 3.51415, -4.98091 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A2TUUIV61CR0C7:3WT783CTPDKUZD4T38MUT8JJB3ICBY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.28355, 3.51415, -0.19466 ], "start_rotation": [ 0, 0.23542, 0, -0.97189 ], "object_category": "towel", "info": { "geodesic_distance": 4.98523, "euclidean_distance": 3.89397, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.93928, 3.51415, -2.2521 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "AD1ILDUXZHASF:39ZSFO5CAAZW3QJ5DRKBL2O37X0UJA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.546, 3.51415, 6.94826 ], "start_rotation": [ 0, 0.23419, 0, -0.97219 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.64656, "euclidean_distance": 3.16216, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.46589, 3.51415, 9.31496 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "148a81e548314c67b6f5f226601a27de", "path": [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3RU7GD8VPQWCAOUZJZUV3XSRSWBSP9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.71842, 0.11415, 0.05868 ], "start_rotation": [ 0, 0.92623, 0, -0.37697 ], "object_category": "sink", "info": { "geodesic_distance": 9.72984, "euclidean_distance": 8.23259, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.87939, 0.11415, -7.99619 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", [ "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A3LRZX8477TYYZ:37QW5D2ZRIPR4WVIXISKHBX0PA48SU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.19326, 0.11415, 7.33755 ], "start_rotation": [ 0, 0.013, 0, 0.99992 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.31796, "euclidean_distance": 8.11619, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.05258, 0.11415, -0.23329 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "AOG0PUCLMU0HH:3PH3VY7DJN0ZV9DEQD2YRKXPS70WZF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.11991, 3.51415, -3.1056 ], "start_rotation": [ 0, 0.88951, 0, -0.45692 ], "object_category": "picture", "info": { "geodesic_distance": 3.34353, "euclidean_distance": 2.79187, "closest_goal_object_id": 97, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.40587, 3.51415, -5.42462 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "fec0a4503f7d4cee8f491934eff0d498", "path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1" ], "refined_path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1" ] }, { "episode_id": "AZPZDX26SYMFY:3K3R2QNK8D67XE6WRFTYW8A0BSIU99", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.57708, 0.11415, 2.39618 ], "start_rotation": [ 0, 0.94585, 0, -0.32459 ], "object_category": "bed", "info": { "geodesic_distance": 13.7107, "euclidean_distance": 10.46287, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.12423, 0.11415, -8.03896 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "64fdd371adc042558d30fa9bd00a00f5", "path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "ALZVG5501Y5IX:3R08VXYT7EYGBZ787IAF004R1JY7W4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.95798, 3.51415, -6.06572 ], "start_rotation": [ 0, 0.76042, 0, -0.64944 ], "object_category": "table", "info": { "geodesic_distance": 12.8434, "euclidean_distance": 11.24085, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.52634, 3.51415, 3.02686 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "834865d0e74042d38b796ded2488d64c", "path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A1C8FN01981A69:3F6KKYWMND465EZ46UME491WUE3DNA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.75323, 3.51415, 6.99097 ], "start_rotation": [ 0, 0.82512, 0, -0.56496 ], "object_category": "sink", "info": { "geodesic_distance": 2.80636, "euclidean_distance": 2.3537, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.30039, 3.51415, 7.37066 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "416df61743e24e828609f0698df3f51b", "path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A272X64FOZFYLB:39ZSFO5CAAZW3QJ5DRKBL2O2QHOUJJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.76878, 1.91415, -4.10294 ], "start_rotation": [ 0, 0.31927, 0, 0.94766 ], "object_category": "chair", "info": { "geodesic_distance": 6.55604, "euclidean_distance": 3.22863, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.95153, 3.51415, -6.17718 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A75XDPFNICR3T:32XVDSJFP10DKMGOX4NXVBLSP9W2M3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.48586, 0.11415, -4.61736 ], "start_rotation": [ 0, 0.68348, 0, -0.72997 ], "object_category": "sofa", "info": { "geodesic_distance": 5.21733, "euclidean_distance": 5.06234, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.10959, 0.11415, 0.13351 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0" ] }, { "episode_id": "A3L8LSM7V7KX3T:3MMN5BL1W17254C71412ELQKVH0M3Q", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.80034, 0.11415, 3.17778 ], "start_rotation": [ 0, 0.97002, 0, -0.24301 ], "object_category": "bed", "info": { "geodesic_distance": 12.52401, "euclidean_distance": 11.37198, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.00049, 0.11415, -8.04494 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A1P3HHEXWNLJMP:3M0BCWMB8XZ3DBAYKZMV52QM3S2WBB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.99661, 3.51415, -0.24312 ], "start_rotation": [ 0, 0.2837, 0, -0.95891 ], "object_category": "bed", "info": { "geodesic_distance": 7.28465, "euclidean_distance": 6.89372, "closest_goal_object_id": 79, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.38282, 3.51415, -6.61646 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A5A14MTB35J23:3180JW2OT6FFIBTQCQC3DQWN8CA5JY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.78343, 0.11415, 3.49162 ], "start_rotation": [ 0, 0.55733, 0, -0.83029 ], "object_category": "shower", "info": { "geodesic_distance": 17.76804, "euclidean_distance": 12.65456, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.2056, 3.51415, -8.55279 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "dbce7eccf4a140338da926d313e07b5c", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be" ], "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b" ], "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A2MCG5W6LHSRG9:3SUWZRL0M0G3QZ7C38BH8GXVW6K6E0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.51788, 0.11415, 6.72393 ], "start_rotation": [ 0, 0.0938, 0, -0.99559 ], "object_category": "bed", "info": { "geodesic_distance": 17.88928, "euclidean_distance": 16.08934, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.1282, 0.11415, -7.99654 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A1P3HHEXWNLJMP:3HMIGG0U4N9O0I7RWOK9ZXL2ND08YR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.77264, 3.51415, 3.89524 ], "start_rotation": [ 0, 0.47592, 0, -0.87949 ], "object_category": "fireplace", "info": { "geodesic_distance": 21.48752, "euclidean_distance": 4.77088, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.15817, 0.11415, 3.8552 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A1NSHNH3MNFRGW:3018Q3ZVOKTTM5OKFRCTNSYZTQORAK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.39638, 3.51415, 9.62269 ], "start_rotation": [ 0, 0.93606, 0, -0.35184 ], "object_category": "counter", "info": { "geodesic_distance": 21.59198, "euclidean_distance": 19.26004, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.02791, 3.51415, -9.11321 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "c3b8b8e1f0994859869b42fb760fce9f", "path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f" ], "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A3PFU4042GIQLE:3YDGXNSEO1X82BT77HW2J8HU9BD84V", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.50823, -0.08585, -11.93863 ], "start_rotation": [ 0, 0.73666, 0, 0.67626 ], "object_category": "cushion", "info": { "geodesic_distance": 5.74186, "euclidean_distance": 4.66908, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.41596, 0.11415, -9.26238 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6" ] }, { "episode_id": "A29CNQYJWMJ7G9:3OUYGIZWR91C9FANAXBBTRM8X5Y0P2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.35118, 3.51415, -2.37018 ], "start_rotation": [ 0, 0.17099, 0, 0.98527 ], "object_category": "toilet", "info": { "geodesic_distance": 11.89481, "euclidean_distance": 3.23294, "closest_goal_object_id": 50, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.09841, 3.51415, -5.59038 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A2GQH4SWIOFH2L:3P4RDNWND79RUZO5JAVX2Z0SD3DJIT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.84943, 3.51415, -3.40615 ], "start_rotation": [ 0, 0.92894, 0, -0.37023 ], "object_category": "plant", "info": { "geodesic_distance": 10.33194, "euclidean_distance": 8.49313, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.07698, 3.51415, 4.52454 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "0f42320ef887416fb8ed9b91b6641cfc", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3HL2LL0LEPZT8:33PPO7FECXIERDOD9E9MZ15FS76DIV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.15488, 3.51415, -4.37283 ], "start_rotation": [ 0, 0.99177, 0, -0.12802 ], "object_category": "plant", "info": { "geodesic_distance": 20.09237, "euclidean_distance": 9.29681, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.13534, 3.51415, 4.54436 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "71859791901b45939806508a364adf17", "path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "fec0a4503f7d4cee8f491934eff0d498", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "7c9717fb9297481bad3a5cc351f4fddf", [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c" ], "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A13WYZ8AXD6ODX:37M28K1J0SGCOH577M3KL1C90RVAJV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.70186, 0.11415, 0.99915 ], "start_rotation": [ 0, 0.96546, 0, -0.26056 ], "object_category": "counter", "info": { "geodesic_distance": 7.27641, "euclidean_distance": 6.87012, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.42244, 0.11415, 7.86692 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "AD1ILDUXZHASF:3TS1AR6UQSHE0DLDHT0FWCIR6GWF72", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.20042, 3.51415, -4.3949 ], "start_rotation": [ 0, 0.81964, 0, 0.57288 ], "object_category": "table", "info": { "geodesic_distance": 13.3193, "euclidean_distance": 10.08888, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.47311, 3.51415, 3.13796 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "fec0a4503f7d4cee8f491934eff0d498", "path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A1ZE52NWZPN85P:39ZSFO5CAAZW3QJ5DRKBL2O3RLAJU5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.62668, 0.11415, 7.84279 ], "start_rotation": [ 0, 0.99774, 0, 0.06714 ], "object_category": "plant", "info": { "geodesic_distance": 1.11536, "euclidean_distance": 1.0551, "closest_goal_object_id": 673, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.83545, 0.11415, 7.23127 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "1407cf2da95e4f73951798295db82ab6", "path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1" ], "refined_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6" ], "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1" ] }, { "episode_id": "A3V8LIMUUJWUTL:3IRIK4HM3CNOT1NY7H5MISXRXC26CM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.9718, 3.51415, 11.55902 ], "start_rotation": [ 0, 0.81252, 0, 0.58293 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.20906, "euclidean_distance": 4.98293, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.41718, 3.51415, 9.36552 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_125_newN_0", "path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "AOWW3URQNRJ6U:3XXU1SWE8OY5MB4LLETE3WXDX7F0AE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.2206, 3.51415, 3.6424 ], "start_rotation": [ 0, 0.99771, 0, 0.06764 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.87262, "euclidean_distance": 5.91257, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.2383, 3.51415, 8.24548 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "a7fef2bee6444714acf0476fe84f9000", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A7XL1V3G7C2VV:352YTHGROXG1VMU0ALQ8WLATE6LH4R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.94113, 0.11415, 11.93021 ], "start_rotation": [ 0, 0.86696, 0, -0.49837 ], "object_category": "towel", "info": { "geodesic_distance": 5.93564, "euclidean_distance": 4.53105, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.94833, 0.11415, 8.35705 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "176424bc97d94b12a52aefbdfb8c00d9", "path": [ "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "6cc97300dcd2469c82449756fef5cffd", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", [ "176424bc97d94b12a52aefbdfb8c00d9" ], "6cc97300dcd2469c82449756fef5cffd", [ "176424bc97d94b12a52aefbdfb8c00d9" ], "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A3T5UAYFKJBVTA:36ZN444YTT15VAF2ZNN2AVHECT7OIT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.21131, 3.51415, 9.10129 ], "start_rotation": [ 0, 0.0371, 0, 0.99931 ], "object_category": "towel", "info": { "geodesic_distance": 14.58789, "euclidean_distance": 12.50246, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.04194, 3.51415, -2.23834 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "AIIOT9A7ARQZW:3A1PQ49WVJKK3NXHN376YN3RJ9L1H1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.16436, 3.51415, 8.85981 ], "start_rotation": [ 0, 0.50089, 0, 0.86551 ], "object_category": "cushion", "info": { "geodesic_distance": 8.13818, "euclidean_distance": 7.71457, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.74502, 3.51415, 3.3092 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "0_edge_125_newN_1" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1" ] }, { "episode_id": "A1NLDZ3T0S2CX:3N1FSUEFL73KJ6PYOP7I50VW316D4L", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.50751, 3.51415, -9.62248 ], "start_rotation": [ 0, 0.81631, 0, -0.57761 ], "object_category": "table", "info": { "geodesic_distance": 15.69352, "euclidean_distance": 14.54614, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.40464, 3.51415, 3.12307 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "7c9717fb9297481bad3a5cc351f4fddf", "path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "7c9717fb9297481bad3a5cc351f4fddf", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A2TUUIV61CR0C7:3P59JYT76NNHXH6861O9HPGJ3GST2B", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.28188, 3.61823, -8.56484 ], "start_rotation": [ 0, 0.99095, 0, -0.13422 ], "object_category": "table", "info": { "geodesic_distance": 14.93305, "euclidean_distance": 11.65346, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.43445, 3.51415, 3.15247 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "AOG0PUCLMU0HH:3YDTZAI2WZJQRB9M8WNN4YUNE0041B", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.7253, 3.51415, 3.54649 ], "start_rotation": [ 0, 0.99085, 0, 0.13497 ], "object_category": "counter", "info": { "geodesic_distance": 14.43576, "euclidean_distance": 13.33227, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.06196, 3.51415, -9.13246 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "463e439a4e974a00b23bfe7c684a2607", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "episode_id": "A3FSDH6HUZPNQ8:33OOO72IVJOUVZYA3UDFT2P6V37TCW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.72164, -0.08585, -10.74858 ], "start_rotation": [ 0, 0.30858, 0, 0.9512 ], "object_category": "stool", "info": { "geodesic_distance": 11.52534, "euclidean_distance": 10.832, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.17528, 0.11415, -0.25974 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", [ "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A29CNQYJWMJ7G9:3W2LOLRXLDIZYIX6RIPIH61WCQKRKT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.93624, 0.11415, -3.17949 ], "start_rotation": [ 0, 0.5179, 0, -0.85544 ], "object_category": "bed", "info": { "geodesic_distance": 6.1653, "euclidean_distance": 5.24502, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.03756, 0.11415, -7.98863 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "AKYXQY5IP7S0Z:3483FV8BEGMBVJVWAOGG6FO6Z9Q626", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.34284, 3.51415, -2.31247 ], "start_rotation": [ 0, 0.46574, 0, 0.88492 ], "object_category": "sofa", "info": { "geodesic_distance": 12.32182, "euclidean_distance": 5.06901, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.13334, 0.11415, 0.18511 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46" ], "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A74PT3GRDMEZ:3IQ1VMJRYVNNI5SYLAC7W7Y64O9A9U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.14571, 0.11415, 7.64135 ], "start_rotation": [ 0, 0.23671, 0, -0.97158 ], "object_category": "toilet", "info": { "geodesic_distance": 1.50406, "euclidean_distance": 1.40708, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.00533, 0.11415, 8.7528 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A3L8LSM7V7KX3T:3EJJQNKU9T88WSWYLXML4EL348GRH5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.63198, 0.11415, -0.45026 ], "start_rotation": [ 0, 0.44243, 0, -0.8968 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.14493, "euclidean_distance": 4.84538, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.74418, 0.11415, -0.92135 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "c3c0a1a738a749a7a986d64c872b7671", "path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A1R0689JPSQ3OF:3K772S5NPAEJNORTZR2L57MLS81EH9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.00963, -0.02965, -10.23553 ], "start_rotation": [ 0, 0.72475, 0, -0.68901 ], "object_category": "fireplace", "info": { "geodesic_distance": 15.72231, "euclidean_distance": 14.75319, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.13632, 0.11415, 3.81898 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3FSDH6HUZPNQ8:39GHHAVOMHUXMSPQYLTT8YQ8PVDJ4E", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.17566, 1.91415, -3.84393 ], "start_rotation": [ 0, 0.62436, 0, -0.78113 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.76357, "euclidean_distance": 4.41104, "closest_goal_object_id": 170, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.32743, 3.51415, -2.24008 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3PM8NZGV80J56HHDDMF72AZTF7GXQX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.70155, 0.24211, 5.39576 ], "start_rotation": [ 0, 0.99146, 0, -0.13044 ], "object_category": "picture", "info": { "geodesic_distance": 6.42281, "euclidean_distance": 5.58861, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.61729, 0.11415, 7.60895 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "0_edge_3_newN_0", "path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "refined_path": [ "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", [ "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ] }, { "episode_id": "A1P3HHEXWNLJMP:373ERPL3YQBY11NTLR3AIXOSVXBRTN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.74504, 0.11415, 2.43786 ], "start_rotation": [ 0, 0.49337, 0, -0.86982 ], "object_category": "sink", "info": { "geodesic_distance": 8.14216, "euclidean_distance": 7.18106, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.2074, 0.11415, 8.56056 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A5A14MTB35J23:3AMW0RGHOF5FUB2UB3D943IL81FPNH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.40558, 0.20726, -2.49996 ], "start_rotation": [ 0, 0.9994, 0, -0.03466 ], "object_category": "plant", "info": { "geodesic_distance": 5.47184, "euclidean_distance": 3.69256, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.52187, 0.11415, -0.41187 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "b12981cba2ba4525b377ef503d92b843", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A272X64FOZFYLB:3T3IWE1XG8QYP08T8CEAD7EMLMBTQW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.92579, 3.51415, 11.58677 ], "start_rotation": [ 0, 0.9483, 0, 0.31736 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.76874, "euclidean_distance": 3.53284, "closest_goal_object_id": 204, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.76635, 3.51415, 8.03528 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A2TUUIV61CR0C7:30MVJZJNHOGYJYV2FGPKP61PE0BJ9P", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.61614, 3.51415, -6.10448 ], "start_rotation": [ 0, 0.88731, 0, 0.46118 ], "object_category": "table", "info": { "geodesic_distance": 13.49053, "euclidean_distance": 11.66578, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.59507, 3.51415, 3.09904 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "refined_path": [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ] }, { "episode_id": "A3RPTW3IGJHBNQ:3FK0YFF9P1J5708ZZ68ZKC1GGR5VVA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.81527, 0.11415, 0.66893 ], "start_rotation": [ 0, 0.91255, 0, 0.40897 ], "object_category": "toilet", "info": { "geodesic_distance": 14.80202, "euclidean_distance": 13.52041, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.9224, 0.11415, 8.83984 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "0_edge_37_newN_0", "path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AKYXQY5IP7S0Z:3EFE17QCRE8KX7WB0MMQUOQ06IWHSE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.88136, 3.58654, -8.37817 ], "start_rotation": [ 0, 0.74651, 0, 0.66538 ], "object_category": "seating", "info": { "geodesic_distance": 19.67376, "euclidean_distance": 9.7444, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.82295, 0.11415, 0.69114 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "AIIOT9A7ARQZW:39O5D9O87VVPWI0GOF7OBPL84XF3CZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.17114, 0.11415, -4.02973 ], "start_rotation": [ 0, 0.62274, 0, -0.78243 ], "object_category": "sink", "info": { "geodesic_distance": 7.66421, "euclidean_distance": 5.26979, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.8172, 0.11415, -8.06264 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A1P3HHEXWNLJMP:31JLPPHS2WXQ57XJEKGF6PFPQBU3OP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.06523, 3.51415, 9.01651 ], "start_rotation": [ 0, 0.42404, 0, 0.90564 ], "object_category": "sink", "info": { "geodesic_distance": 2.81607, "euclidean_distance": 2.14515, "closest_goal_object_id": 264, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.96487, 3.51415, 8.53318 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "c3b8b8e1f0994859869b42fb760fce9f", "path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3UJ1CZ6IZJS8HECGZKLH5RNA4Z55S4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.80154, 0.11415, 11.25825 ], "start_rotation": [ 0, 0.16833, 0, -0.98573 ], "object_category": "bed", "info": { "geodesic_distance": 25.25214, "euclidean_distance": 21.34697, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.1065, 0.11415, -8.07539 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A2L26DMSVUEDP6:3ZWFC4W1UWAOIW5SQ7YL1T9QQ1QFR0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.23504, 0.11415, 8.47472 ], "start_rotation": [ 0, 0.61775, 0, 0.78638 ], "object_category": "shower", "info": { "geodesic_distance": 23.0868, "euclidean_distance": 17.42905, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.27975, 3.51415, -8.61883 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "1407cf2da95e4f73951798295db82ab6", "path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3MH9DQ757YFMCOT45LZ8OPWMYOXUG3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.33912, 0.11415, -1.02872 ], "start_rotation": [ 0, 0.43149, 0, -0.90212 ], "object_category": "toilet", "info": { "geodesic_distance": 12.38019, "euclidean_distance": 11.20409, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.99885, 0.11415, 8.89898 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A21ZK49H9LSSRY:3Y5140Z9DZJNGAR3EN0HZVM4M1CIPJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.10708, 3.51415, 11.4959 ], "start_rotation": [ 0, 0.99274, 0, 0.12025 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 1.15009, "euclidean_distance": 0.99754, "closest_goal_object_id": 303, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.90972, 3.51415, 12.13916 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ] }, { "episode_id": "A2TUUIV61CR0C7:3U84XHCDIEGNM7UUG7WFWSEZRD24ZL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.24886, -0.08585, 1.57462 ], "start_rotation": [ 0, 0.02937, 0, 0.99957 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.47766, "euclidean_distance": 8.33361, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.68031, 0.11415, 6.90394 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A2TUUIV61CR0C7:336YQZE83XH5JJZBFNPVTIO4CAPM5B", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.53773, 0.11415, 7.63423 ], "start_rotation": [ 0, 0.0662, 0, 0.99781 ], "object_category": "bed", "info": { "geodesic_distance": 21.74524, "euclidean_distance": 15.97109, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.94416, 0.11415, -8.03861 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A3KC26Z78FBOJT:3E7TUJ2EGEPLGCVA5K39M86B6J4D9W", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.67096, 3.51415, 7.8229 ], "start_rotation": [ 0, 0.93795, 0, 0.34677 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.17036, "euclidean_distance": 7.3151, "closest_goal_object_id": 247, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.24158, 3.51415, 8.17583 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0_edge_125_newN_2", "path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", [ "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", [ "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A1P3HHEXWNLJMP:3PJ71Z61R65ROHFYPRJEL6530SQ19G", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.69008, 3.51415, 12.02467 ], "start_rotation": [ 0, 0.50222, 0, 0.86474 ], "object_category": "counter", "info": { "geodesic_distance": 24.27849, "euclidean_distance": 21.60462, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.07385, 3.51415, -9.11201 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3PDJHANYK7JFA9YET9JNTJU8RF36HW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.19582, 0.11415, 1.7304 ], "start_rotation": [ 0, 0.63141, 0, -0.77545 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.82156, "euclidean_distance": 5.10547, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.7133, 0.11415, 6.84814 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_3", "path": [ "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A3LRZX8477TYYZ:3S3AMIZX3W8NEA2DH4D0OY7JEYLCDG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.33904, 0.11415, -1.15903 ], "start_rotation": [ 0, 0.67423, 0, -0.73852 ], "object_category": "toilet", "info": { "geodesic_distance": 12.49948, "euclidean_distance": 11.31909, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.99846, 0.11415, 8.88259 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", [ "cc896d0984cc4661bff9087a0df6967c" ], "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AJQGWGESKQT4Y:3OUYGIZWR91C9FANAXBBTRM8WT90PO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.47765, -0.08585, 0.6218 ], "start_rotation": [ 0, 0.58495, 0, -0.81107 ], "object_category": "shower", "info": { "geodesic_distance": 19.67481, "euclidean_distance": 12.54675, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.23329, 3.51415, -8.45803 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:3HFNH7HEMJHUKVMNOCF3EOZYCLQQGC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.2373, 0.11415, -9.52317 ], "start_rotation": [ 0, 0.21393, 0, 0.97685 ], "object_category": "fireplace", "info": { "geodesic_distance": 15.00438, "euclidean_distance": 13.45668, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.18953, 0.11415, 3.95545 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", [ "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ], "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0", "3a457e1e32504249a561c9d259e0835a", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A1RQLE4ZMTU22A:3ZOTGHDK5KEUPOIY4ZHGEXN042DSOW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.23807, 0.11415, 2.60421 ], "start_rotation": [ 0, 0.99995, 0, -0.00969 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.18401, "euclidean_distance": 4.89028, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.56362, 0.11415, 6.85958 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "20f6b7fcb5254024aacdd907da2eb315", "path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3634BBTX0QXBPX290K4CN180HRGIFW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.9858, 0.11415, -1.40757 ], "start_rotation": [ 0, 0.92301, 0, -0.38479 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.72753, "euclidean_distance": 4.77746, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.78247, 0.11415, -1.04117 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A1BZNPQ0H7ZSER:39PAAFCODO3QU84AUB8KJUDVG8YTV2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.7185, 0.00865, -0.84974 ], "start_rotation": [ 0, 0.55327, 0, -0.833 ], "object_category": "chair", "info": { "geodesic_distance": 3.41249, "euclidean_distance": 2.05808, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.82817, 0.11415, -0.96396 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A3FSDH6HUZPNQ8:30IQTZXKAM9HIOCEWOLSN48B223X0I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.54588, 0.11415, 5.62262 ], "start_rotation": [ 0, 0.60635, 0, 0.7952 ], "object_category": "shower", "info": { "geodesic_distance": 22.27853, "euclidean_distance": 15.68258, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.24208, 3.51415, -8.58412 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0d3a3b42009441e2a02200423049d804", "path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315" ], "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:3OVR4I9USRME8FT3TBD25Z2VJIG4Q3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.36291, 3.51415, 12.06293 ], "start_rotation": [ 0, 0.00389, 0, 0.99999 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.65178, "euclidean_distance": 5.56332, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.37421, 3.51415, 9.22663 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_125_newN_0", "path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f" ], "refined_path": [ "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f" ] }, { "episode_id": "A2TUUIV61CR0C7:33F859I568GLGLF9P00V4ZGZOVGHB5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.39098, 1.8798, -2.46693 ], "start_rotation": [ 0, 0.90565, 0, -0.42403 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.21892, "euclidean_distance": 2.25109, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.83888, 0.11415, -1.17618 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A3T5UAYFKJBVTA:3YOH7BII0BARRPEN02USI3QZXXSKVC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.43868, 3.51415, 12.25681 ], "start_rotation": [ 0, 0.86506, 0, -0.50167 ], "object_category": "stool", "info": { "geodesic_distance": 11.98167, "euclidean_distance": 6.02467, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.5932, 3.51415, 11.23685 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "8f183f5d34d544e5a4d04bc8f28f10e8", "path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "8f183f5d34d544e5a4d04bc8f28f10e8", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3X66WABAJYL2DUGLQ1371G6ML71G3X", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.40173, 0.11415, -1.03041 ], "start_rotation": [ 0, 0.07152, 0, 0.99744 ], "object_category": "sink", "info": { "geodesic_distance": 8.68501, "euclidean_distance": 7.02146, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.78262, 0.11415, -7.95434 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A16184N1RO5OJV:3BXQMRHWK11M4YPQGOX31UGK80HUMF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.23322, 3.51415, 7.8701 ], "start_rotation": [ 0, 0.65883, 0, 0.75229 ], "object_category": "sofa", "info": { "geodesic_distance": 23.14131, "euclidean_distance": 8.67931, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.10059, 0.11415, 0.18502 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_37_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0" ] }, { "episode_id": "A2L26DMSVUEDP6:3IGI0VL649NX9BQTW30UF3DUFWLONG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.39849, 3.51415, 9.67338 ], "start_rotation": [ 0, 0.05812, 0, -0.99831 ], "object_category": "bed", "info": { "geodesic_distance": 9.33034, "euclidean_distance": 6.46229, "closest_goal_object_id": 284, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.92699, 3.51415, 9.89037 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ] }, { "episode_id": "A3K1P4SPR8XS7R:39OWYR0EPMUXFXHE42QF9P2OAB3FYT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.67678, 0.11415, -1.07635 ], "start_rotation": [ 0, 0.33382, 0, 0.94264 ], "object_category": "shower", "info": { "geodesic_distance": 13.34604, "euclidean_distance": 8.40625, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.21805, 3.51415, -8.62936 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3A9AA95ATYPB4MWO73HNAMIZENS5PV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.35344, 0.11415, -3.99891 ], "start_rotation": [ 0, 0.24904, 0, -0.96849 ], "object_category": "plant", "info": { "geodesic_distance": 9.23052, "euclidean_distance": 7.97061, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.63895, 0.11415, -0.54019 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "AIOOOO5OXWXKM:3YGXWBAF72KAEEJKOTC7LUDEI0WC4K", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.42125, 0.11415, -3.39264 ], "start_rotation": [ 0, 0.55918, 0, -0.82905 ], "object_category": "chair", "info": { "geodesic_distance": 3.29159, "euclidean_distance": 2.69589, "closest_goal_object_id": 827, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.29658, 0.11415, -5.68747 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "AEWGY34WUIA32:3CFVK00FWNOHW5H4KUYLLBNERF6L6V", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.04082, 0.11415, 8.38088 ], "start_rotation": [ 0, 0.37288, 0, -0.92788 ], "object_category": "sink", "info": { "geodesic_distance": 2.27283, "euclidean_distance": 1.82426, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.24152, 0.11415, 8.54842 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "42524ad2f3f44645a1dc3bd8486560cf", "path": [ "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A9K0CV70JWG1W:3SBEHTYCWP6HPOJ45AW0CMFGQ64IY2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.28332, -0.08585, -12.10744 ], "start_rotation": [ 0, 0.93825, 0, -0.34595 ], "object_category": "chair", "info": { "geodesic_distance": 3.5411, "euclidean_distance": 3.35249, "closest_goal_object_id": 833, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.66968, 0.11415, -9.64979 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A2TUUIV61CR0C7:3E4GGUZ1TAUIUYGLCSAHGYTO0RO2KV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.70004, 0.11415, -3.99857 ], "start_rotation": [ 0, 0.99612, 0, -0.08795 ], "object_category": "towel", "info": { "geodesic_distance": 10.94238, "euclidean_distance": 7.52069, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.16479, 0.11415, -4.41795 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3NVC2EB65S22ZL1LK7PD8GDQQ3N3YE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.4438, 0.11415, 4.30085 ], "start_rotation": [ 0, 0.98567, 0, 0.16868 ], "object_category": "sink", "info": { "geodesic_distance": 6.58149, "euclidean_distance": 6.0869, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.16696, 0.11415, 8.59852 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "AOG0PUCLMU0HH:3RXPCZQMQRE63R263XPODNRQ1BAG1K", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.29516, 0.11415, 2.50417 ], "start_rotation": [ 0, 0.99932, 0, 0.0369 ], "object_category": "bed", "info": { "geodesic_distance": 12.5259, "euclidean_distance": 10.46695, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.95415, 0.11415, -8.08339 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_58_newN_3", "path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "AQ0YWEW29GSIJ:3BXQMRHWK11M4YPQGOX31UGKBRJMUU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.28308, 3.51415, -4.51192 ], "start_rotation": [ 0, 0.9972, 0, -0.07478 ], "object_category": "chair", "info": { "geodesic_distance": 6.0924, "euclidean_distance": 4.79956, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.36911, 3.51415, -8.20347 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A2TUUIV61CR0C7:3VHP9MDGRPNKCUG98A8QCYA53CRCFY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.23214, 0.11415, -5.35067 ], "start_rotation": [ 0, 0.75089, 0, -0.66043 ], "object_category": "shower", "info": { "geodesic_distance": 15.3945, "euclidean_distance": 5.55277, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.17596, 3.51415, -8.67251 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "1407cf2da95e4f73951798295db82ab6", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A21ZK49H9LSSRY:3MHW492WW2GMHDEQLE78XGI3PYPVMP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.92939, 3.51415, -7.17144 ], "start_rotation": [ 0, 0.83155, 0, 0.55545 ], "object_category": "chair", "info": { "geodesic_distance": 3.99505, "euclidean_distance": 3.5892, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.40251, 3.51415, -8.26343 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A13OOAT2ORKH6V:3CPLWGV3MQ2U2OMNUEHCIDI63W59NC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.33007, 3.51415, 4.16721 ], "start_rotation": [ 0, 0.35346, 0, 0.93545 ], "object_category": "stool", "info": { "geodesic_distance": 10.00429, "euclidean_distance": 8.64335, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.47864, 3.51415, 11.33863 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", [ "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "A3T5UAYFKJBVTA:34BBWHLWHCED0JO4Q9ECRPUZUFOIWY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.10588, 0.11415, 3.56323 ], "start_rotation": [ 0, 0.76339, 0, 0.64594 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.8394, "euclidean_distance": 3.30964, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.63957, 0.11415, 6.94559 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_93_newN_1", "0_edge_39_newN_1", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "6cc97300dcd2469c82449756fef5cffd", [ "176424bc97d94b12a52aefbdfb8c00d9" ], "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "0_edge_93_newN_1", [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28" ], "0_edge_39_newN_1", [ "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9" ] ] }, { "episode_id": "A3GWRDHAURRNK6:3U8YCDAGXRJX9RB2AAQ0TWCHMZ10QO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.05791, 0.11415, -2.19141 ], "start_rotation": [ 0, 0.68419, 0, -0.7293 ], "object_category": "toilet", "info": { "geodesic_distance": 12.12178, "euclidean_distance": 7.10211, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.7039, 0.11415, -4.42788 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2MCG5W6LHSRG9:33LK57MYLV86OSW568SXUVU55UQZSA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.24578, 0.11415, 9.91776 ], "start_rotation": [ 0, 0.94935, 0, 0.31422 ], "object_category": "bathtub", "info": { "geodesic_distance": 15.54852, "euclidean_distance": 14.56776, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.79105, 0.11415, -1.17522 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2TUUIV61CR0C7:3JW0YLFXRVJV1E89FQIRSG38RCDWW2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.93816, 3.51415, 7.27854 ], "start_rotation": [ 0, 0.6331, 0, 0.77407 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.59893, "euclidean_distance": 7.72336, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.44846, 3.51415, 9.32688 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "0_edge_69_newN_2", "0_edge_69_newN_1", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2" ], "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A31BA1WLSWUSY1:34FNN24DCOC5D0OPYQD6NDBA45W5Y0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.255, 0.11415, 7.58266 ], "start_rotation": [ 0, 0.96984, 0, -0.24373 ], "object_category": "cushion", "info": { "geodesic_distance": 5.41364, "euclidean_distance": 4.86852, "closest_goal_object_id": 628, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.30259, 0.11415, 5.05113 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2" ] }, { "episode_id": "A272X64FOZFYLB:3P1L2B7AD3S7LBN8KQKF2B95ANDOLE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.34873, 0.11415, 7.7513 ], "start_rotation": [ 0, 0.90554, 0, 0.42426 ], "object_category": "shower", "info": { "geodesic_distance": 23.50998, "euclidean_distance": 16.76197, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.21636, 3.51415, -8.55334 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "1407cf2da95e4f73951798295db82ab6", "path": [ "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6" ], "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", [ "f7ef3082a05c40659421f0a21731ae1b" ], "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:382M9COHEJIOSAXDZQ9KOMBBYBTEU2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.78591, 0.11415, 4.94944 ], "start_rotation": [ 0, 0.57145, 0, 0.82064 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.4729, "euclidean_distance": 2.08842, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.5926, 0.11415, 6.89938 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A1P3HHEXWNLJMP:3X73LLYYQ3HNHU46SQ54VUGUJ5GHN2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.97805, 0.01051, -0.46313 ], "start_rotation": [ 0, 0.57953, 0, 0.81495 ], "object_category": "counter", "info": { "geodesic_distance": 10.20739, "euclidean_distance": 8.95628, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.31616, 0.11415, 7.88188 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3KOPY89HMA5C4W6MY7OAYTY3UG83JV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.0719, 0.11415, 11.74985 ], "start_rotation": [ 0, 0.97425, 0, 0.22546 ], "object_category": "shower", "info": { "geodesic_distance": 26.15473, "euclidean_distance": 20.75658, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.27658, 3.51415, -8.61838 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:3RXCAC0YITSOERMR2IY3SXEYFIP8G7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.92883, -0.08585, -1.02406 ], "start_rotation": [ 0, 0.22059, 0, 0.97537 ], "object_category": "table", "info": { "geodesic_distance": 6.98403, "euclidean_distance": 6.45995, "closest_goal_object_id": 599, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.05939, 0.11415, 2.94802 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] }, { "episode_id": "A2L26DMSVUEDP6:33CID57106WIZMUM1S0NE8BVIXB3LZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.91138, 3.67573, -6.7635 ], "start_rotation": [ 0, 0.40368, 0, 0.9149 ], "object_category": "table", "info": { "geodesic_distance": 15.17367, "euclidean_distance": 9.86364, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.48417, 3.51415, 3.05142 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A17OSPGV41FZ7P:3XUHV3NRVM1JR5Y0OQ9I1DG7E8LH5D", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.2836, 3.51415, -4.24726 ], "start_rotation": [ 0, 0.12445, 0, -0.99223 ], "object_category": "chair", "info": { "geodesic_distance": 6.35702, "euclidean_distance": 5.00468, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.35134, 3.51415, -8.2222 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "33f72d3f5ada42d09785a13fe1ff804f", "path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719" ], "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "AKYXQY5IP7S0Z:3JCG6DTRV5TLXKG1R8KF8230ETGQQQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.16852, -0.08585, -0.70164 ], "start_rotation": [ 0, 0.8689, 0, 0.49498 ], "object_category": "cabinet", "info": { "geodesic_distance": 11.40315, "euclidean_distance": 8.82282, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.93601, 0.11415, -6.15481 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A3O5RKGH6VB19C:3G5F9DBFOR00PZDFUHRV5BA6RKUHV3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.75863, 0.11415, -0.74142 ], "start_rotation": [ 0, 0.23461, 0, 0.97209 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.33809, "euclidean_distance": 5.94443, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.94884, 0.11415, -6.16309 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A3L8LSM7V7KX3T:3UNH76FOCU83L79VQPUS4FMWON8MY1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.43353, 3.51415, 8.94725 ], "start_rotation": [ 0, 0.89412, 0, -0.44783 ], "object_category": "sofa", "info": { "geodesic_distance": 24.71095, "euclidean_distance": 9.97408, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.02996, 0.11415, 0.08404 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", [ "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "AIIOT9A7ARQZW:37Z929RLGBBA2GN60G3F87TOK4PSTK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.42136, 2.28453, -3.87652 ], "start_rotation": [ 0, 0.11604, 0, 0.99324 ], "object_category": "fireplace", "info": { "geodesic_distance": 11.84633, "euclidean_distance": 8.11112, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.13059, 0.11415, 3.91974 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "1239dba1b6234964b420a56d82d79d7a", "path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "AOMFEAWQHU3D8:3WT783CTPDKUZD4T38MUT8JJ90KBCR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.83332, 0.11415, 11.84537 ], "start_rotation": [ 0, 0.80238, 0, -0.59681 ], "object_category": "plant", "info": { "geodesic_distance": 7.40114, "euclidean_distance": 4.76593, "closest_goal_object_id": 925, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.19397, 0.11415, 7.27819 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "0_edge_58_newN_0" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", [ "1407cf2da95e4f73951798295db82ab6" ], "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A3KC26Z78FBOJT:33JKGHPFYEX9985HJNLHNZOPKNZNMB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.33247, 3.51415, -2.8741 ], "start_rotation": [ 0, 0.79436, 0, -0.60745 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.85807, "euclidean_distance": 5.87713, "closest_goal_object_id": 4, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.33891, 3.51722, -8.78595 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "18ea875fed1b4dc99363420c08cb4300", "path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A28U7B76HLCS1U:3NJM2BJS4Y9W3753MD4VOSO965SPC3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.16759, 3.51415, 0.14111 ], "start_rotation": [ 0, 0.67745, 0, -0.73557 ], "object_category": "sofa", "info": { "geodesic_distance": 13.42275, "euclidean_distance": 3.54802, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.01432, 0.11415, 0.12512 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737" ], "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A2MCG5W6LHSRG9:3VA45EW49PQUV4J4RG2WIW0SVVR1OH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.60315, 3.48781, -3.74998 ], "start_rotation": [ 0, 0.14903, 0, 0.98883 ], "object_category": "fireplace", "info": { "geodesic_distance": 13.9245, "euclidean_distance": 8.52691, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.1799, 0.11415, 3.94052 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "efa99d80f5024c999633851f5875c6c7", "path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "AKYXQY5IP7S0Z:39L1G8WVWSU59FQI8II4UT2HXD3139", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.29108, 0.11415, -8.68197 ], "start_rotation": [ 0, 0.96467, 0, -0.26344 ], "object_category": "seating", "info": { "geodesic_distance": 11.48187, "euclidean_distance": 10.80494, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.95075, 0.11415, 0.65193 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A1J3ON3YLGJAM6:3OE22WJIGKRDPDNI8H4KI30PLSAUQJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.65245, -0.08585, -0.35316 ], "start_rotation": [ 0, 0.99994, 0, 0.01114 ], "object_category": "chair", "info": { "geodesic_distance": 4.19324, "euclidean_distance": 3.18299, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.84166, 0.11415, -0.99878 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ] ] }, { "episode_id": "AQ0YWEW29GSIJ:3CFJTT4SXVTYA4N3I160Z9VJM3II7G", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.17434, 0.11415, 11.89832 ], "start_rotation": [ 0, 0.92777, 0, 0.37315 ], "object_category": "bathtub", "info": { "geodesic_distance": 17.75928, "euclidean_distance": 16.16238, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.84057, 0.11415, -1.12897 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A21ZK49H9LSSRY:33L7PJKHCI1SJW8XMIXARGTN5H48TX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.13602, 3.51415, 9.8303 ], "start_rotation": [ 0, 0.06146, 0, -0.99811 ], "object_category": "fireplace", "info": { "geodesic_distance": 29.92472, "euclidean_distance": 9.06297, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.13386, 0.11415, 3.91372 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "c3b8b8e1f0994859869b42fb760fce9f", "path": [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", [ "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3VP0C6EFSIZ12NZPK6Z0LO23PGE6MQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.10588, 0.11415, 3.56323 ], "start_rotation": [ 0, 0.76339, 0, 0.64594 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.8394, "euclidean_distance": 3.30964, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.63957, 0.11415, 6.94559 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "APGX2WZ59OWDN:3NL0RFNU0HQSXCV8G6T59DQL6KX4KK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.47925, 0.11415, 11.74811 ], "start_rotation": [ 0, 0.04785, 0, 0.99885 ], "object_category": "shower", "info": { "geodesic_distance": 26.05665, "euclidean_distance": 20.66059, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.2656, 3.51415, -8.61703 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "4e796cd1c4594f9fb07bf8b48edf2dc2", "path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "7cdc2565c773401289b95360da22e017", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:3SEPORI8WP22OWABP8669V0ZJO0AZ6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.40993, 3.51415, 2.45737 ], "start_rotation": [ 0, 0.38155, 0, -0.92435 ], "object_category": "towel", "info": { "geodesic_distance": 7.80916, "euclidean_distance": 6.46763, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.04288, 3.51415, -2.35816 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "0_edge_125_newN_2", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b" ], "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c" ], "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3VW6495TLL33FOY99SI3YA94DMQYY3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.41531, 0.11415, 7.43391 ], "start_rotation": [ 0, 0.33621, 0, 0.94179 ], "object_category": "picture", "info": { "geodesic_distance": 2.80151, "euclidean_distance": 2.48182, "closest_goal_object_id": 383, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.97429, 0.11415, 9.48359 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "AI0K2LZWV73MB:3IHR8NYAM94T83SOTYYD5UCL16J4PS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.41147, 0.11415, -9.52958 ], "start_rotation": [ 0, 0.19321, 0, -0.98116 ], "object_category": "stool", "info": { "geodesic_distance": 10.00385, "euclidean_distance": 9.33636, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.1968, 0.11415, -0.17186 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "4f07d9e99e084876b0765220888d2545", "path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "42524ad2f3f44645a1dc3bd8486560cf", "0_edge_58_newN_3" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] ] }, { "episode_id": "A3T5UAYFKJBVTA:323Q6SJS8KJBT2RPU2MRNP7LHKNHF0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.89649, 0.11415, 5.11941 ], "start_rotation": [ 0, 0.72234, 0, 0.69154 ], "object_category": "bed", "info": { "geodesic_distance": 16.26242, "euclidean_distance": 13.10492, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.06313, 0.11415, -8.05536 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "8e63389afc02448a9d0dd695bc50253a", "path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "AIOOOO5OXWXKM:33TIN5LC06DOENQ11GQNZTGCOR19YV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.08357, 3.51415, 9.9773 ], "start_rotation": [ 0, 0.58302, 0, -0.81246 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.31427, "euclidean_distance": 1.93209, "closest_goal_object_id": 204, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.91612, 3.51415, 8.04368 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", [ "c3b8b8e1f0994859869b42fb760fce9f" ], "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac" ] }, { "episode_id": "A1P3HHEXWNLJMP:3EFVCAY5L5CY5TCSAOJ6PA6E74P8JI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.70992, 0.11415, 9.13041 ], "start_rotation": [ 0, 0.66942, 0, 0.74288 ], "object_category": "toilet", "info": { "geodesic_distance": 8.50735, "euclidean_distance": 7.6657, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.99222, 0.11415, 8.88465 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A3G5OWGKHW6OL5:3MAOD8E57SDK3K4LXUNQYG4OAWSXN9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.45963, 0.11415, -0.11069 ], "start_rotation": [ 0, 0.58506, 0, -0.81099 ], "object_category": "sink", "info": { "geodesic_distance": 12.08316, "euclidean_distance": 9.699, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.79075, 0.11415, -7.97218 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", [ "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A3T5UAYFKJBVTA:31HQ4X3T3UDMJ3F1R71OMGJ7NSUSL7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.99037, 3.71415, -7.31235 ], "start_rotation": [ 0, 0.95751, 0, 0.2884 ], "object_category": "cushion", "info": { "geodesic_distance": 2.66053, "euclidean_distance": 2.39903, "closest_goal_object_id": 83, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.59533, 3.51415, -9.11663 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "0_edge_82_newN_0", "path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A19C2SO0IMRZ1L:3VFJCI1K412UWW1N1R43JE935AERG3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.54626, 0.11415, -4.33312 ], "start_rotation": [ 0, 0.99824, 0, -0.05934 ], "object_category": "stool", "info": { "geodesic_distance": 7.59607, "euclidean_distance": 7.09301, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.25039, 0.11415, -0.18962 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ], "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "AZPZDX26SYMFY:33JKGHPFYEX9985HJNLHNZOQ04KMNB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.70004, 0.11415, -2.56824 ], "start_rotation": [ 0, 0.55767, 0, 0.83006 ], "object_category": "plant", "info": { "geodesic_distance": 5.59457, "euclidean_distance": 4.33756, "closest_goal_object_id": 630, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.50016, 0.11415, -0.41387 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A2L26DMSVUEDP6:3S0TNUHWKVLL27C00SXVMCB12VBD8E", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.57873, 3.51415, 8.97449 ], "start_rotation": [ 0, 0.53186, 0, -0.84683 ], "object_category": "fireplace", "info": { "geodesic_distance": 28.38837, "euclidean_distance": 6.25354, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.17933, 0.11415, 3.82346 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ] }, { "episode_id": "A19C2SO0IMRZ1L:369J354OFFD1AD3393158JI7CKS6G9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.94174, -0.08585, 0.25329 ], "start_rotation": [ 0, 0.97712, 0, -0.2127 ], "object_category": "table", "info": { "geodesic_distance": 6.61684, "euclidean_distance": 5.74781, "closest_goal_object_id": 599, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.03786, 0.11415, 2.98965 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "5e08b4f21d6342538a9a6361d4cbd1d6", "path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0" ], "refined_path": [ "5e08b4f21d6342538a9a6361d4cbd1d6", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0" ] }, { "episode_id": "A3NFGEUZAH9V5G:3AWETUDC94VHUET91WYJQTOIGRNIZA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.91383, 3.51415, 3.1854 ], "start_rotation": [ 0, 0.68248, 0, 0.73091 ], "object_category": "fireplace", "info": { "geodesic_distance": 22.33283, "euclidean_distance": 6.26221, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.10825, 0.11415, 3.83042 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_36_newN_0", [ "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A1R0689JPSQ3OF:33JKGHPFYEX9985HJNLHNZOPM6NNM3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.16484, 0.11415, -3.89735 ], "start_rotation": [ 0, 0.44223, 0, 0.8969 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.0151, "euclidean_distance": 7.15155, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.78317, 0.11415, -1.06439 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "b12981cba2ba4525b377ef503d92b843", "path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A1P3HHEXWNLJMP:3TE3O85732B4H2TG2CJEHAF1HY12RL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.91532, 0.11415, -7.57152 ], "start_rotation": [ 0, 0.98727, 0, 0.15906 ], "object_category": "towel", "info": { "geodesic_distance": 5.92097, "euclidean_distance": 5.24331, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.20049, 0.11415, -4.5497 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "73f8049b6198422aa5f2edfc71fe423b", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A31BA1WLSWUSY1:37U1UTWH9XPF3HV5ITSFR1S438J8R4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.26625, 0.11415, -5.82071 ], "start_rotation": [ 0, 0.70816, 0, 0.70605 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.95701, "euclidean_distance": 3.7883, "closest_goal_object_id": 829, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.03343, 0.11415, -8.28652 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "0_edge_25_newN_0", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "A3PFU4042GIQLE:31LM9EDVONVJ80ZWGQ8P77W8GYQJNZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.65148, 3.51415, 3.31151 ], "start_rotation": [ 0, 0.8668, 0, -0.49865 ], "object_category": "toilet", "info": { "geodesic_distance": 8.75279, "euclidean_distance": 3.35735, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.2036, 3.51415, 6.33931 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A1R0689JPSQ3OF:3VHP9MDGRPNKCUG98A8QCYA4OMLCFV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.37494, 3.51415, -5.16447 ], "start_rotation": [ 0, 0.04679, 0, -0.9989 ], "object_category": "picture", "info": { "geodesic_distance": 2.07312, "euclidean_distance": 1.84077, "closest_goal_object_id": 46, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.31534, 3.51415, -4.89036 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "71859791901b45939806508a364adf17", "path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "refined_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3UXUOQ9OKG0J4M456DENIB706WBA71", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.32835, 3.51415, -5.38221 ], "start_rotation": [ 0, 0.46934, 0, 0.88302 ], "object_category": "picture", "info": { "geodesic_distance": 1.09819, "euclidean_distance": 0.98999, "closest_goal_object_id": 46, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.32643, 3.51415, -4.96976 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "a55dab7d921b47d59b1391d69fa7e464", "path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3HMIGG0U4N9O0I7RWOK9ZXL2N7N8Y2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.36662, 0.11415, -7.16455 ], "start_rotation": [ 0, 0.70936, 0, 0.70485 ], "object_category": "picture", "info": { "geodesic_distance": 2.94238, "euclidean_distance": 1.37026, "closest_goal_object_id": 753, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.43036, 0.11415, -6.27181 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "7cdc2565c773401289b95360da22e017", "path": [ "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "A2L26DMSVUEDP6:3VP0C6EFSIZ12NZPK6Z0LO245FUM62", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.21721, 0.11415, 7.64312 ], "start_rotation": [ 0, 0.94161, 0, -0.3367 ], "object_category": "seating", "info": { "geodesic_distance": 11.88323, "euclidean_distance": 10.68244, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.0548, 0.11415, 2.19961 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "0_edge_8_newN_2", "path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "0_edge_37_newN_0", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ], "refined_path": [ "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", [ "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6" ], "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", "e28810ab6e9745f89e3b124320caf5a8", [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad" ] }, { "episode_id": "A2MCG5W6LHSRG9:39JEC7537W498R2Z8PDUUKDRVLACVF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.51989, 0.11415, -8.20821 ], "start_rotation": [ 0, 0.21832, 0, -0.97588 ], "object_category": "sofa", "info": { "geodesic_distance": 13.48227, "euclidean_distance": 9.41922, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.0732, 0.11415, 0.2035 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "f4d601b86e624ad2a8d77280f36c7872", "path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0" ], "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3MYYFCXHJ5ANVQZPQF8QBLYTGSO4GM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.32172, 1.91415, -3.61364 ], "start_rotation": [ 0, 0.81603, 0, -0.57801 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.41098, "euclidean_distance": 2.55977, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.76949, 3.51415, -4.91916 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", [ "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A2GQH4SWIOFH2L:3A1COHJ8NLY2ENH2MOGLDXQZUNQH8D", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.52807, 3.51415, 7.76182 ], "start_rotation": [ 0, 0.55579, 0, 0.83132 ], "object_category": "sofa", "info": { "geodesic_distance": 21.13971, "euclidean_distance": 8.49683, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.17303, 0.11415, 0.26541 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1" ] }, { "episode_id": "A19C2SO0IMRZ1L:369J354OFFD1AD3393158JI79SQ6GK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.17907, 3.51415, 9.08191 ], "start_rotation": [ 0, 0.99582, 0, 0.09135 ], "object_category": "plant", "info": { "geodesic_distance": 2.59517, "euclidean_distance": 2.47142, "closest_goal_object_id": 346, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.53706, 3.51415, 11.58839 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3GLB5JMZFZY0VMIIJQ9JEPSZQ2OGD9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.99636, 3.51415, 11.27112 ], "start_rotation": [ 0, 0.80314, 0, -0.59579 ], "object_category": "picture", "info": { "geodesic_distance": 1.89778, "euclidean_distance": 1.74612, "closest_goal_object_id": 308, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.37423, 3.58507, 12.41181 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A1P3HHEXWNLJMP:3KKG4CDWKK18GGCHC92GJ4C69PT49C", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.89025, 3.51415, -6.60722 ], "start_rotation": [ 0, 0.25798, 0, -0.96615 ], "object_category": "seating", "info": { "geodesic_distance": 20.34682, "euclidean_distance": 8.09672, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.8638, 0.11415, 0.72387 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "b12981cba2ba4525b377ef503d92b843", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ], "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "b12981cba2ba4525b377ef503d92b843", [ "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A26LOVXF4QZZCO:3IO1LGZLKB0MHYXLQ5PHG6187F768U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.21163, 0.11415, 8.34139 ], "start_rotation": [ 0, 0.74889, 0, 0.6627 ], "object_category": "counter", "info": { "geodesic_distance": 3.90802, "euclidean_distance": 3.71008, "closest_goal_object_id": 418, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.34599, 0.11415, 11.5407 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "0_edge_93_newN_1", "path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A3T5UAYFKJBVTA:3U8YCDAGXRJX9RB2AAQ0TWCI2C60Q1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.61289, 0.11415, -6.4128 ], "start_rotation": [ 0, 0.86073, 0, 0.50906 ], "object_category": "plant", "info": { "geodesic_distance": 8.16632, "euclidean_distance": 6.09039, "closest_goal_object_id": 812, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.09088, 0.11415, -4.1116 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "76ba074e4b7a46feb3d829302db3bd2e", "path": [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A272X64FOZFYLB:3S4AW7T80DL3HIDQ1656OD31WYYL4V", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.3492, 0.11415, 0.73555 ], "start_rotation": [ 0, 0.06441, 0, -0.99792 ], "object_category": "plant", "info": { "geodesic_distance": 4.90889, "euclidean_distance": 4.60448, "closest_goal_object_id": 673, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.12588, 0.11415, 4.91368 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A2KOR4003SVNC5:3FUI0JHJPZ11JI4XVMWNIMHEVQ933H", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.13243, 3.51415, 7.0258 ], "start_rotation": [ 0, 0.55874, 0, -0.82934 ], "object_category": "cushion", "info": { "geodesic_distance": 7.53129, "euclidean_distance": 6.51648, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.73333, 3.51415, 3.34605 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "AKYXQY5IP7S0Z:3Q8GYXHFER5SAXNK2YVHQMJSF5WC59", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.93276, 3.51415, 7.91925 ], "start_rotation": [ 0, 0.95178, 0, 0.30677 ], "object_category": "fireplace", "info": { "geodesic_distance": 26.1481, "euclidean_distance": 5.24262, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.20016, 0.11415, 3.95828 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0_edge_125_newN_2", "path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", [ "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A2L26DMSVUEDP6:34J10VATJH18GMSIE0F6Z0CEBMNIQX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.38326, 0.11415, -0.88401 ], "start_rotation": [ 0, 0.44939, 0, -0.89333 ], "object_category": "table", "info": { "geodesic_distance": 1.43407, "euclidean_distance": 1.29395, "closest_goal_object_id": 678, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.63773, 0.11415, 0.20878 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "c3c0a1a738a749a7a986d64c872b7671", "path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_133_newN_0" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0" ], "refined_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3WI0P0II63VRKCRWZ13VDT65EOBRD2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.79578, 0.11415, -9.36244 ], "start_rotation": [ 0, 0.20922, 0, -0.97787 ], "object_category": "shower", "info": { "geodesic_distance": 19.18327, "euclidean_distance": 3.53734, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.23381, 3.51415, -8.61202 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "7efbe13d514b4797b540aecffe79aa03", "path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", [ "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "AJQGWGESKQT4Y:33PPO7FECXIERDOD9E9MZ15F5LADI4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.58749, 0.11415, 0.20471 ], "start_rotation": [ 0, 0.61015, 0, 0.79228 ], "object_category": "bed", "info": { "geodesic_distance": 13.1075, "euclidean_distance": 8.53822, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.97231, 0.11415, -8.01993 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A1R0689JPSQ3OF:37WLF8U1WRT6CZZMZUMK6BA03RH6KK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.16913, 0.11415, 11.67839 ], "start_rotation": [ 0, 0.99251, 0, 0.12214 ], "object_category": "fireplace", "info": { "geodesic_distance": 7.2059, "euclidean_distance": 6.66026, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.26935, 0.11415, 7.57982 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "176424bc97d94b12a52aefbdfb8c00d9", "path": [ "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "refined_path": [ "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3ERMJ6L4D0VK6NDU3G4SR2203GUM70", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.92504, 3.51415, 10.48137 ], "start_rotation": [ 0, 0.54438, 0, -0.83884 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.41631, "euclidean_distance": 7.5088, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.38254, 3.51415, 9.25331 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f" ] }, { "episode_id": "A3O5RKGH6VB19C:3GLB5JMZFZY0VMIIJQ9JEPSZQ95DG1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.63366, -0.0602, 0.30965 ], "start_rotation": [ 0, 0.98179, 0, -0.18999 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.47976, "euclidean_distance": 2.35119, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.95325, 0.11415, -0.08414 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A3C7COPV48I37D:3Q5ZZ9ZEVQIQYUX7LMFCO0N89DF85J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.14234, 3.51415, -6.9199 ], "start_rotation": [ 0, 0.21184, 0, 0.9773 ], "object_category": "sofa", "info": { "geodesic_distance": 13.44688, "euclidean_distance": 7.9058, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.12866, 0.11415, 0.23991 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_37_newN_0", "0_edge_58_newN_0", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "AOMFEAWQHU3D8:3J4Q2Z4UT06QHHCN3HJL0RLLN44QW4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.95882, 0.11415, 12.02283 ], "start_rotation": [ 0, 0.04243, 0, -0.9991 ], "object_category": "sink", "info": { "geodesic_distance": 3.39594, "euclidean_distance": 3.26381, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.99171, 0.11415, 10.73784 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A2R2YZTSME1K3F:3ZPPDN2SLXZQ8I9A1FETSQOXM8EE97", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.92249, 0.11415, 11.31783 ], "start_rotation": [ 0, 0.41668, 0, -0.90905 ], "object_category": "stool", "info": { "geodesic_distance": 5.08224, "euclidean_distance": 4.80365, "closest_goal_object_id": 552, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.00367, 0.11415, 8.70109 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "A19C2SO0IMRZ1L:3M23Y66PO4A40ICU43VMXX1AX3W6SG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.5736, 0.11415, -0.27652 ], "start_rotation": [ 0, 0.99947, 0, 0.03249 ], "object_category": "fireplace", "info": { "geodesic_distance": 8.0361, "euclidean_distance": 5.44541, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.18673, 0.11415, 3.94036 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "e28810ab6e9745f89e3b124320caf5a8", "path": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "54c9298c439a4e64bc983020e4211592", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ], "refined_path": [ "e28810ab6e9745f89e3b124320caf5a8", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0" ], "54c9298c439a4e64bc983020e4211592", [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3" ], "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2", "0_edge_3_newN_1", "0_edge_3_newN_0" ] }, { "episode_id": "AJQGWGESKQT4Y:3IQ1VMJRYVNNI5SYLAC7W7Y61TC9A3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.87425, 0.11415, -7.85642 ], "start_rotation": [ 0, 0.14725, 0, 0.9891 ], "object_category": "stool", "info": { "geodesic_distance": 8.30421, "euclidean_distance": 7.75655, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.3398, 0.11415, -0.23887 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "76ba074e4b7a46feb3d829302db3bd2e", "path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "AIOOOO5OXWXKM:3NS0A6KXC6B3YNNEB8YG5HB1YO5ZGO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.82541, 3.51415, 8.20891 ], "start_rotation": [ 0, 0.67315, 0, 0.73951 ], "object_category": "chair", "info": { "geodesic_distance": 3.53659, "euclidean_distance": 3.10601, "closest_goal_object_id": 130, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.76012, 3.51415, 5.18777 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3RANCT1ZVHKQL7LTPZ7UNE5QJJIBUZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.84381, 3.51415, 10.20743 ], "start_rotation": [ 0, 0.33898, 0, -0.94079 ], "object_category": "fireplace", "info": { "geodesic_distance": 29.27308, "euclidean_distance": 8.31914, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.06367, 0.11415, 3.76174 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6" ], "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", [ "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "AIIOT9A7ARQZW:36TFCYNS46DSTOIAUWSDTW7SK9JHXU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.66111, 3.51415, 10.45202 ], "start_rotation": [ 0, 0.17195, 0, 0.98511 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.01743, "euclidean_distance": 3.48772, "closest_goal_object_id": 316, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.60942, 3.51415, 7.47541 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3S0TNUHWKVLL27C00SXVMCB1P97D8P", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.06493, 3.51415, 7.72218 ], "start_rotation": [ 0, 0.99961, 0, -0.02803 ], "object_category": "cushion", "info": { "geodesic_distance": 7.57778, "euclidean_distance": 6.87673, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.73964, 3.51415, 3.37957 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f" ], "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ] }, { "episode_id": "AD1ILDUXZHASF:3AZHRG4CU6N52Q50CZE4GOJ7V8903U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.37424, 3.51415, -1.96978 ], "start_rotation": [ 0, 0.94903, 0, 0.31518 ], "object_category": "counter", "info": { "geodesic_distance": 8.93681, "euclidean_distance": 7.98771, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.03388, 3.51415, -9.11917 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "6a3fba49106e4a9fb40cd0bf47dd4d46", "path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A2DDPSXH2X96RF:3LUY3GC6313QRQA7VWWK86WUPEEP79", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.98646, 1.80221, -2.29439 ], "start_rotation": [ 0, 0.00624, 0, -0.99998 ], "object_category": "towel", "info": { "geodesic_distance": 8.9536, "euclidean_distance": 6.57433, "closest_goal_object_id": 18, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.19211, 3.51415, -8.20473 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "6c34dde402304953a9416e2781de607f", "path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "AIIOT9A7ARQZW:3JCG6DTRV5TLXKG1R8KF8230F4NQQK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.91713, 0.15746, 5.31422 ], "start_rotation": [ 0, 0.52113, 0, -0.85348 ], "object_category": "picture", "info": { "geodesic_distance": 5.63005, "euclidean_distance": 4.90266, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.49262, 0.11415, 7.54359 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "8e63389afc02448a9d0dd695bc50253a", "path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", [ "8e63389afc02448a9d0dd695bc50253a" ], "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1", "0_edge_3_newN_2", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3VW04L3ZLV9PFEIPZ0AZWIVMCATXXK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.3706, 3.51415, 5.69216 ], "start_rotation": [ 0, 0.89871, 0, -0.43854 ], "object_category": "sink", "info": { "geodesic_distance": 3.61044, "euclidean_distance": 2.54124, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.45049, 3.51415, 7.26652 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A1R0689JPSQ3OF:3TS1AR6UQSHE0DLDHT0FWCIR6FNF7R", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.70874, 0.07892, 1.09536 ], "start_rotation": [ 0, 0.59407, 0, 0.80441 ], "object_category": "cushion", "info": { "geodesic_distance": 5.29915, "euclidean_distance": 4.94809, "closest_goal_object_id": 693, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.54739, 0.11415, 2.22727 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A2L26DMSVUEDP6:32RIADZISU7QLV8GLF270ZHW457S4N", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.18395, 3.51415, -7.08431 ], "start_rotation": [ 0, 0.47503, 0, 0.87997 ], "object_category": "sofa", "info": { "geodesic_distance": 18.92261, "euclidean_distance": 8.93941, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.07434, 0.11415, 0.10646 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", "64fdd371adc042558d30fa9bd00a00f5", "0_edge_3_newN_2" ] }, { "episode_id": "A9K0CV70JWG1W:3LQ8PUHQFNVV3TTFVASCQMKDX70IH3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.02381, 0.11415, 0.53434 ], "start_rotation": [ 0, 0.61054, 0, -0.79198 ], "object_category": "sink", "info": { "geodesic_distance": 9.85049, "euclidean_distance": 9.0847, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.71749, 0.11415, -8.01646 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_58_newN_2", "path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A28U7B76HLCS1U:3LWJHTCVCEPO6VQSDS9LW3ZMB1WFQY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.29507, 3.51415, 10.97828 ], "start_rotation": [ 0, 0.98645, 0, -0.16409 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.28372, "euclidean_distance": 2.95093, "closest_goal_object_id": 204, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.88112, 3.51415, 8.04479 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A2TUUIV61CR0C7:3EO896NRAYYH3D4GDMU1G621LS7JT1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.03188, 3.51415, -9.40113 ], "start_rotation": [ 0, 0.98973, 0, -0.14297 ], "object_category": "fireplace", "info": { "geodesic_distance": 19.80979, "euclidean_distance": 13.76104, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.15472, 0.11415, 3.89464 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "cf7c2bd80f934238aede140bb9bd1284", "path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "AZPZDX26SYMFY:3NLZY2D53RSA6N0OZ3CJRG4654SQLZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.54362, 3.51415, 3.7563 ], "start_rotation": [ 0, 0.85559, 0, -0.51766 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.43017, "euclidean_distance": 5.68453, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.42555, 3.51415, 9.27143 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "AOMFEAWQHU3D8:3NS0A6KXC6B3YNNEB8YG5HB2EKCGZM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.12638, 0.11415, 7.58304 ], "start_rotation": [ 0, 0.3245, 0, 0.94589 ], "object_category": "picture", "info": { "geodesic_distance": 2.15121, "euclidean_distance": 2.0034, "closest_goal_object_id": 383, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.97716, 0.11415, 9.40368 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3V26SBZTBFH3P4IJ10M5QOR8C2JZZE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.76438, 3.51415, -2.81859 ], "start_rotation": [ 0, 0.74939, 0, -0.66213 ], "object_category": "plant", "info": { "geodesic_distance": 9.94055, "euclidean_distance": 7.98614, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.10679, 3.51415, 4.43326 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A2DDPSXH2X96RF:3R2UR8A0ICJ2L54XY9N3D54SH51XO5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.66318, 3.51415, 3.61905 ], "start_rotation": [ 0, 0.72704, 0, -0.6866 ], "object_category": "toilet", "info": { "geodesic_distance": 6.61603, "euclidean_distance": 3.14217, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.11666, 3.51415, 6.36481 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A1BZNPQ0H7ZSER:33JKGHPFYEX9985HJNLHNZOQ04UNMM", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.6786, 0.11415, -3.69098 ], "start_rotation": [ 0, 0.99983, 0, -0.0187 ], "object_category": "sofa", "info": { "geodesic_distance": 6.43012, "euclidean_distance": 5.92029, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.02859, 0.11415, 0.16789 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "cce150ca22c249d2918ac9d0ee8689e6", "path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "refined_path": [ "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3URFVVM167LM35O9VDNX9WCTNSAZUO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.84789, -0.08585, 1.26423 ], "start_rotation": [ 0, 0.51629, 0, 0.85642 ], "object_category": "sink", "info": { "geodesic_distance": 12.85718, "euclidean_distance": 10.40396, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.67078, 0.11415, -7.96479 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", [ "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13" ] }, { "episode_id": "A19C2SO0IMRZ1L:3PMBY0YE296BBKPW5O8Y22OU4TMC9U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.65907, 1.91415, -3.82057 ], "start_rotation": [ 0, 0.10853, 0, -0.99409 ], "object_category": "sofa", "info": { "geodesic_distance": 7.24442, "euclidean_distance": 5.01626, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.15435, 0.11415, 0.17038 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A3KC26Z78FBOJT:3YW4XOSQKSOP8931N2E5H2SGWV2U1J", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.71095, -0.08585, -12.00531 ], "start_rotation": [ 0, 0.85222, 0, -0.52318 ], "object_category": "picture", "info": { "geodesic_distance": 5.36541, "euclidean_distance": 4.73578, "closest_goal_object_id": 832, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.50592, 0.11415, -9.20312 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3EWIJTFFVQA8COLX1JV0ZFN35FZE0G", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.66848, 3.51415, 2.94055 ], "start_rotation": [ 0, 0.54751, 0, -0.8368 ], "object_category": "sink", "info": { "geodesic_distance": 6.38339, "euclidean_distance": 5.40404, "closest_goal_object_id": 164, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.82227, 3.51415, -2.36349 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A2GQH4SWIOFH2L:3F1567XTNY8F5LZFA69TM7DB87K9QR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.9896, 0.11415, 5.94368 ], "start_rotation": [ 0, 0.99794, 0, 0.06423 ], "object_category": "cushion", "info": { "geodesic_distance": 1.01125, "euclidean_distance": 0.9504, "closest_goal_object_id": 628, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.35221, 0.11415, 5.08859 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", [ "20f6b7fcb5254024aacdd907da2eb315" ], "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ] ] }, { "episode_id": "A1R0689JPSQ3OF:3XCC1ODXDNEL9LV14N9FDSD5B2PRQA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.01989, -0.08585, -11.68588 ], "start_rotation": [ 0, 0.99832, 0, 0.05798 ], "object_category": "fireplace", "info": { "geodesic_distance": 17.41385, "euclidean_distance": 16.43145, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.0853, 0.11415, 3.85372 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3T5UAYFKJBVTA:3L4PIM1GQVJUINMNVXQ9QEG7D3TYRU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.25804, 3.51415, 6.5811 ], "start_rotation": [ 0, 0.8804, 0, 0.47424 ], "object_category": "table", "info": { "geodesic_distance": 3.78972, "euclidean_distance": 1.63703, "closest_goal_object_id": 119, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.88653, 3.51415, 6.17635 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "148a81e548314c67b6f5f226601a27de", "path": [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A2L26DMSVUEDP6:3W8CV64QJ422SS0CRGMZDTLA1BGH9X", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.58532, 0.11415, 0.94718 ], "start_rotation": [ 0, 0.09377, 0, 0.99559 ], "object_category": "fireplace", "info": { "geodesic_distance": 7.0795, "euclidean_distance": 3.87253, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.16586, 0.11415, 3.9327 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0_edge_37_newN_0", "path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Navigate to the fireplace.", "instr_encoding": [ 101, 22149, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A1P3HHEXWNLJMP:3DEL4X4EL8OEFJ8Z4WW1FW2VBLYXY8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.27939, 3.51415, -6.51003 ], "start_rotation": [ 0, 0.97327, 0, -0.22965 ], "object_category": "chair", "info": { "geodesic_distance": 4.89551, "euclidean_distance": 4.42256, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.34216, 3.51415, -8.30698 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3O6CYIULEF4I9AJ4KQ3QASIAS9SWU3", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.52084, 3.51415, 9.84098 ], "start_rotation": [ 0, 0.96176, 0, -0.27391 ], "object_category": "counter", "info": { "geodesic_distance": 20.77216, "euclidean_distance": 19.23541, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.05447, 3.51415, -9.08958 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6" ], "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "AKYXQY5IP7S0Z:3I7DHKZYGP3ZD97UT0LIYS4UYKGF53", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.78434, 0.11415, 10.73678 ], "start_rotation": [ 0, 0.4579, 0, -0.889 ], "object_category": "bathtub", "info": { "geodesic_distance": 15.73199, "euclidean_distance": 14.28552, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.80335, 0.11415, -1.11314 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", [ "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2MCG5W6LHSRG9:3EJPLAJKEOJ11UY8ZVPUTQYDN9XZ60", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.59752, -0.01967, -10.32033 ], "start_rotation": [ 0, 0.29243, 0, -0.95629 ], "object_category": "bed", "info": { "geodesic_distance": 3.90773, "euclidean_distance": 3.72418, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.02157, 0.11415, -8.95528 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A3C7COPV48I37D:35GCEFQ6I7R24BBQGTRWMNMSURGZ3C", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.46147, 3.51415, -5.65394 ], "start_rotation": [ 0, 0.16199, 0, 0.98679 ], "object_category": "plant", "info": { "geodesic_distance": 11.53801, "euclidean_distance": 10.6823, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.93137, 3.51415, 4.39679 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "31ae672c4fda4ce29add4798d07ce3b1", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "a55dab7d921b47d59b1391d69fa7e464", "71859791901b45939806508a364adf17", [ "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "31ae672c4fda4ce29add4798d07ce3b1", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A3KC26Z78FBOJT:3DPNQGW4LNILYXAJE2Z4ZUL336Y64Y", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.72813, 0.11415, 0.35142 ], "start_rotation": [ 0, 0.46134, 0, 0.88722 ], "object_category": "counter", "info": { "geodesic_distance": 7.89794, "euclidean_distance": 7.51319, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.49593, 0.11415, 7.82856 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A1NKBXOTZAI1YK:3M68NM076JASZ3CHPEVH7NWEAE26R6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.70273, 0.08859, -10.04967 ], "start_rotation": [ 0, 0.093, 0, 0.99567 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.87024, "euclidean_distance": 1.60414, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.31492, 0.11415, -8.50915 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee" ], "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A2TUUIV61CR0C7:308XBLVESK7Y5FTCL5CPI3I6SQNBRW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.29897, 0.11415, 4.65087 ], "start_rotation": [ 0, 0.44337, 0, -0.89634 ], "object_category": "picture", "info": { "geodesic_distance": 3.11157, "euclidean_distance": 2.92286, "closest_goal_object_id": 592, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.53761, 0.11415, 7.53777 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "A38AQF5BPHJS4C:3NQL1CS15TBMBU344HVJRB5AY8BVYN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.30171, -0.08585, -12.03157 ], "start_rotation": [ 0, 0.99999, 0, -0.00417 ], "object_category": "chair", "info": { "geodesic_distance": 3.04033, "euclidean_distance": 2.66259, "closest_goal_object_id": 833, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.69613, 0.11415, -9.7106 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ] }, { "episode_id": "A3L8LSM7V7KX3T:3R2PKQ87NYBHV7UQM78PIRS8YY3IM8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.05091, 0.11415, 7.55591 ], "start_rotation": [ 0, 0.15987, 0, -0.98714 ], "object_category": "cushion", "info": { "geodesic_distance": 6.40624, "euclidean_distance": 5.9797, "closest_goal_object_id": 628, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.26696, 0.11415, 4.50604 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3ZR9AIQJUDCQKMO4CDJNQTBD98B04L", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.23271, 3.51415, 9.26023 ], "start_rotation": [ 0, 0.95243, 0, 0.30475 ], "object_category": "picture", "info": { "geodesic_distance": 2.09069, "euclidean_distance": 1.73497, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.65105, 3.51415, 8.17437 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6" ], "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_0", "8f183f5d34d544e5a4d04bc8f28f10e8" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3XXU1SWE8OY5MB4LLETE3WXD1I70AW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.4959, 3.51415, 7.93231 ], "start_rotation": [ 0, 0.99426, 0, -0.10699 ], "object_category": "sink", "info": { "geodesic_distance": 1.3745, "euclidean_distance": 1.23257, "closest_goal_object_id": 206, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.3158, 3.51415, 7.32804 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "aff833f86ff847a7bcf24bea207c91ad", "path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "refined_path": [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ] }, { "episode_id": "A3HL2LL0LEPZT8:3LBXNTKX0TYZEI0RWK4LGF94PXJX9I", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.84025, 0.11415, -7.74875 ], "start_rotation": [ 0, 0.47901, 0, 0.87781 ], "object_category": "stool", "info": { "geodesic_distance": 10.47095, "euclidean_distance": 7.65804, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.38224, 0.11415, -0.1696 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "4f07d9e99e084876b0765220888d2545", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A19317A3X87NVM:3L0KT67Y8GJ6J2M0AMQEGOL3Z0MSYC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.02432, 0.11415, -0.70164 ], "start_rotation": [ 0, 0.20476, 0, 0.97881 ], "object_category": "shower", "info": { "geodesic_distance": 17.90493, "euclidean_distance": 10.03266, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.25758, 3.51415, -8.70045 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "AQ0YWEW29GSIJ:3OUYGIZWR91C9FANAXBBTRM803D0PG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.32758, 0.11415, 11.06837 ], "start_rotation": [ 0, 0.8717, 0, -0.49004 ], "object_category": "towel", "info": { "geodesic_distance": 11.73489, "euclidean_distance": 9.66395, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.03109, 0.11415, 8.32096 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "0_edge_84_newN_0", "path": [ "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2Q6L9LKSNU7EB:34S6N1K2ZXMXTU1LGDPPI2C5ENVLH9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.74916, 0.11415, -0.62422 ], "start_rotation": [ 0, 0.63193, 0, 0.77502 ], "object_category": "plant", "info": { "geodesic_distance": 4.27644, "euclidean_distance": 3.86855, "closest_goal_object_id": 859, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.22635, -0.08585, 1.12721 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "f7ef3082a05c40659421f0a21731ae1b", "path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "AIOOOO5OXWXKM:3VP0C6EFSIZ12NZPK6Z0LO23PE46MC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.71859, 3.51415, -5.11818 ], "start_rotation": [ 0, 0.7743, 0, 0.63282 ], "object_category": "fireplace", "info": { "geodesic_distance": 25.51767, "euclidean_distance": 11.59535, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.18492, 0.11415, 3.96749 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "71859791901b45939806508a364adf17", "path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "71859791901b45939806508a364adf17", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "AKYXQY5IP7S0Z:3O7L7BFSHGSJJJ2D59K65JN05R2IEH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.60726, 0.11415, 2.62118 ], "start_rotation": [ 0, 0.9711, 0, -0.23868 ], "object_category": "counter", "info": { "geodesic_distance": 13.02056, "euclidean_distance": 8.95234, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.36435, 0.11415, 7.9396 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "54c9298c439a4e64bc983020e4211592", "path": [ "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A3P86OK72F8M99:3QRYMNZ7F0KDM3V1SKMT9DJIX0QNT2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.48581, 0.11415, 4.1331 ], "start_rotation": [ 0, 0.9936, 0, 0.11292 ], "object_category": "sink", "info": { "geodesic_distance": 6.74939, "euclidean_distance": 6.23793, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.16836, 0.11415, 8.59537 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3LS2AMNW5HTIC83LCVSBJX80321QO9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.27009, 0.11415, 0.1411 ], "start_rotation": [ 0, 0.93907, 0, -0.34371 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.09241, "euclidean_distance": 4.65802, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.83972, 0.11415, -0.99461 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "ALZVG5501Y5IX:3OONKJ5DKEMV821WTDVLO8D1H6ZOB2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.88827, 0.11415, 10.65276 ], "start_rotation": [ 0, 0.70921, 0, 0.705 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.49632, "euclidean_distance": 11.10093, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.09986, 0.11415, -0.22395 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "0d3a3b42009441e2a02200423049d804", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_93_newN_1", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "0_edge_39_newN_1", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "0_edge_93_newN_1", [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "AKYXQY5IP7S0Z:3634BBTX0QXBPX290K4CN180HXUFIJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.77673, 0.11415, -3.5026 ], "start_rotation": [ 0, 0.87133, 0, -0.49069 ], "object_category": "chair", "info": { "geodesic_distance": 3.17274, "euclidean_distance": 2.79356, "closest_goal_object_id": 827, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.18966, 0.11415, -5.62377 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "fcbd96fa9e054e8298ab129371fa5c00", "path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A1NLDZ3T0S2CX:3MH9DQ757YFMCOT45LZ8OPWNF6KGUV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.44538, 3.5989, 12.24176 ], "start_rotation": [ 0, 0.87735, 0, -0.47985 ], "object_category": "table", "info": { "geodesic_distance": 8.67937, "euclidean_distance": 5.54017, "closest_goal_object_id": 235, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.34844, 3.51415, 10.1456 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", [ "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A2MCG5W6LHSRG9:3WQQ9FUS6CXSNAEGMW6PRMN1Z5KB8G", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.93192, 3.51415, -2.21865 ], "start_rotation": [ 0, 0.75708, 0, 0.65332 ], "object_category": "table", "info": { "geodesic_distance": 7.42606, "euclidean_distance": 5.51396, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.44909, 3.51415, 3.0936 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ] }, { "episode_id": "A1P3HHEXWNLJMP:3M0NZ3JDP315IQYUUCFP1KKDOI7Z5A", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 0.39392, 0.11415, 7.71057 ], "start_rotation": [ 0, 0.8463, 0, -0.5327 ], "object_category": "cushion", "info": { "geodesic_distance": 8.96361, "euclidean_distance": 8.42901, "closest_goal_object_id": 628, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.27547, 0.11415, 4.54975 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "49b4f59afc74417d846ad8cf1634e3d8", "path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3IOEN3P9S9M46YD0RKG21WE1UHD160", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.96206, 3.51415, 8.00469 ], "start_rotation": [ 0, 0.29102, 0, 0.95672 ], "object_category": "cushion", "info": { "geodesic_distance": 3.62921, "euclidean_distance": 2.57399, "closest_goal_object_id": 288, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.24198, 3.55113, 10.08075 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "55e5280eea474acfb993bf68a193bb25", "path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "0_edge_69_newN_1", "0_edge_69_newN_0", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_0", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2" ], "0_edge_69_newN_1", "0_edge_69_newN_0", [ "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A2TUUIV61CR0C7:3ATPCQ38JAD2J606TM4NVORXAL6YAS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.00911, 0.11415, 11.00575 ], "start_rotation": [ 0, 0.92165, 0, 0.38802 ], "object_category": "shower", "info": { "geodesic_distance": 25.43514, "euclidean_distance": 20.03353, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.16507, 3.51415, -8.6473 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "0_edge_125_newN_1", "6043285f84fe401d97d017c42b426fd6", "7d887c096fa64a81a02723f8c283ca16", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2" ], "0_edge_125_newN_1", [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46" ], "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A3O5RKGH6VB19C:3X65QVEQI2Q6CMQ5ULBO7BFONXWCLL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.20578, 0.11415, 10.55212 ], "start_rotation": [ 0, 0.21066, 0, -0.97756 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.54341, "euclidean_distance": 11.68373, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.81612, 0.11415, -1.12978 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "0_edge_84_newN_0", "path": [ "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_84_newN_0", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A75XDPFNICR3T:3WETL7AQWVB4XXR195KGXJFY9NJ35S", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.99766, 3.51415, -5.38398 ], "start_rotation": [ 0, 0.34676, 0, 0.93796 ], "object_category": "table", "info": { "geodesic_distance": 16.92605, "euclidean_distance": 8.48232, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.558, 3.51415, 3.07575 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "5cd8a7aa73d841a4b540b19cf91de719", "path": [ "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "5cd8a7aa73d841a4b540b19cf91de719", "a55dab7d921b47d59b1391d69fa7e464", [ "5cd8a7aa73d841a4b540b19cf91de719" ], "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A35CL66BEUSJ5Z:33F859I568GLGLF9P00V4ZG016WBHG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.76962, 0.11415, 11.21976 ], "start_rotation": [ 0, 0.90178, 0, 0.4322 ], "object_category": "shower", "info": { "geodesic_distance": 25.53864, "euclidean_distance": 20.13216, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.20453, 3.51415, -8.6202 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "4e796cd1c4594f9fb07bf8b48edf2dc2", "path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A3GWRDHAURRNK6:37FMASSAYEULCGQTVIIG4BHEMZLIB5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.63183, 3.51415, -2.58988 ], "start_rotation": [ 0, 0.50671, 0, 0.86212 ], "object_category": "cushion", "info": { "geodesic_distance": 7.23308, "euclidean_distance": 5.54784, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.1815, 3.51415, 1.7305 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A2TUUIV61CR0C7:36AHBNMV1TF0HD3IDWVPLPZ2HBMYD7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.79031, 0.11415, -0.05668 ], "start_rotation": [ 0, 0.30592, 0, 0.95206 ], "object_category": "shower", "info": { "geodesic_distance": 14.69017, "euclidean_distance": 9.51356, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.21452, 3.51415, -8.5919 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A33VGSEJ44ORMF:33TIN5LC06DOENQ11GQNZTGD7HDY9X", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.89816, 3.51415, 12.1516 ], "start_rotation": [ 0, 0.66236, 0, 0.74919 ], "object_category": "sofa", "info": { "geodesic_distance": 27.58817, "euclidean_distance": 12.67883, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.19177, 0.11415, 0.22744 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", [ "463e439a4e974a00b23bfe7c684a2607" ], "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0" ] }, { "episode_id": "A74PT3GRDMEZ:3Y54SXRO1NOQHTFAPLYFN8BC5VLTU0", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.68366, 3.51415, 4.35197 ], "start_rotation": [ 0, 0.86939, 0, 0.49413 ], "object_category": "shower", "info": { "geodesic_distance": 6.54455, "euclidean_distance": 2.04939, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.18786, 3.51415, 6.38553 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607" ], "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] ] }, { "episode_id": "A5WWHKD82I8UE:3X0H8UUIT3R2UXR0VL8QVR0NOS2WSX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.96535, 0.11415, 11.02339 ], "start_rotation": [ 0, 0.33348, 0, -0.94276 ], "object_category": "towel", "info": { "geodesic_distance": 7.19344, "euclidean_distance": 5.56693, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.97462, 0.11415, 8.48755 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315" ], "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AJ1MFJ2BULOVS:3T111IHZ5GTFHMEFNLYTRXNFN819RI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.18287, 3.51415, 11.46494 ], "start_rotation": [ 0, 0.97459, 0, -0.22399 ], "object_category": "counter", "info": { "geodesic_distance": 22.86723, "euclidean_distance": 20.77697, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.15132, 3.51415, -8.96693 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", [ "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", [ "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "episode_id": "A21ZK49H9LSSRY:3LOTDFNYA92TQSMEP18ROSH8WGNWFI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.69311, 0.11415, 12.01506 ], "start_rotation": [ 0, 0.99395, 0, -0.10985 ], "object_category": "seating", "info": { "geodesic_distance": 6.48912, "euclidean_distance": 4.72388, "closest_goal_object_id": 920, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.30741, 0.11415, 7.31901 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "AZPZDX26SYMFY:3AMW0RGHOF5FUB2UB3D943IL4MFNPH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.78071, 0.11415, 9.60109 ], "start_rotation": [ 0, 0.12068, 0, -0.99269 ], "object_category": "shower", "info": { "geodesic_distance": 24.33187, "euclidean_distance": 18.54523, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.2216, 3.51415, -8.6611 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "A16184N1RO5OJV:3I33IC7ZWH5CIL7Z01XSMKQSVS4A2O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.36335, 3.71415, -7.74476 ], "start_rotation": [ 0, 0.14835, 0, -0.98894 ], "object_category": "plant", "info": { "geodesic_distance": 15.00732, "euclidean_distance": 12.28328, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.12875, 3.51415, 4.36019 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "fed8aaa68c9b43a3b83770b4bd2324ed", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3K772S5NPAEJNORTZR2L57MKRPZEH2", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.96332, -0.08585, -10.77993 ], "start_rotation": [ 0, 0.6345, 0, 0.77293 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.91828, "euclidean_distance": 2.60175, "closest_goal_object_id": 888, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.30296, 0.11415, -8.54875 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c" ], "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3DHE4R9OCYEDSCK2M1P2I61VTHV2GU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 14.57706, 3.51415, 12.32635 ], "start_rotation": [ 0, 0.83348, 0, 0.55256 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 13.77814, "euclidean_distance": 10.5042, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.44557, 3.51415, 9.47043 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "54e13e385fac4638b050f5c73095ecdb", "path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "0_edge_69_newN_1", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ], "refined_path": [ "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "0_edge_69_newN_1", [ "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532" ] }, { "episode_id": "AKYXQY5IP7S0Z:33LKR6A5KGNA8WOCNXOVC66FRZZ1TJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.11553, -0.0655, -0.43239 ], "start_rotation": [ 0, 0.47784, 0, -0.87845 ], "object_category": "picture", "info": { "geodesic_distance": 5.93664, "euclidean_distance": 5.15651, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.163, 0.11415, -1.8169 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0d3a3b42009441e2a02200423049d804" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0d3a3b42009441e2a02200423049d804" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "0d3a3b42009441e2a02200423049d804" ] }, { "episode_id": "A3LRZX8477TYYZ:32VNZTT0A97EKG836Q22APC02SR4RC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.679, 0.11415, -7.00387 ], "start_rotation": [ 0, 0.92507, 0, -0.3798 ], "object_category": "sofa", "info": { "geodesic_distance": 12.40116, "euclidean_distance": 7.96525, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.10636, 0.11415, 0.09389 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "dbec0f4e228c44cda1f991905404541c", "path": [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1" ], "refined_path": [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0", "0_edge_3_newN_1" ] }, { "episode_id": "A3KC26Z78FBOJT:3YZ8UPK3VVP9VCDZ3Z3PYYB7Y91CUV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.01599, 3.51415, 3.38284 ], "start_rotation": [ 0, 0.83935, 0, 0.54359 ], "object_category": "sink", "info": { "geodesic_distance": 6.14033, "euclidean_distance": 5.77548, "closest_goal_object_id": 164, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.94001, 3.51415, -2.31983 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "0f42320ef887416fb8ed9b91b6641cfc", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f", [ "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1" ], "0f42320ef887416fb8ed9b91b6641cfc", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:30JNVC0ORBN8KRHY8IXLZOBZO7FHQJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.93214, 0.11415, 7.69765 ], "start_rotation": [ 0, 0.76432, 0, -0.64484 ], "object_category": "bathtub", "info": { "geodesic_distance": 13.18688, "euclidean_distance": 8.81815, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.82359, 0.11415, -1.0991 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "a6c8016b0fa94ebaa51c2808c6fec8ba", "path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A2TUUIV61CR0C7:3I33IC7ZWH5CIL7Z01XSMKQSVSG2AS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.51079, 0.11415, 10.66172 ], "start_rotation": [ 0, 0.62037, 0, 0.78431 ], "object_category": "fireplace", "info": { "geodesic_distance": 4.69096, "euclidean_distance": 4.26513, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.12948, 0.11415, 7.47281 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "eb8781b9756346c9b97ae6d5e43b6d13", "path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "instruction": "Go to the fireplace.", "instr_encoding": [ 101, 2175, 2000, 1996, 13788, 1012, 102 ], "original_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ], "refined_path": [ "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba" ] }, { "episode_id": "A1P3HHEXWNLJMP:3II4UPYCOLAR8BCWMMEV83W1WPHQDY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.08108, 0.11415, -4.80399 ], "start_rotation": [ 0, 0.73602, 0, -0.67696 ], "object_category": "towel", "info": { "geodesic_distance": 9.18394, "euclidean_distance": 5.12571, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.19357, 0.11415, -4.54793 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A1P3HHEXWNLJMP:3LWJHTCVCEPO6VQSDS9LW3ZM8ESQFS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.54118, 3.51415, -6.0084 ], "start_rotation": [ 0, 0.70632, 0, -0.70789 ], "object_category": "seating", "info": { "geodesic_distance": 14.14011, "euclidean_distance": 8.82553, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.95655, 0.11415, 0.73265 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "31ae672c4fda4ce29add4798d07ce3b1", "path": [ "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", [ "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "5cd8a7aa73d841a4b540b19cf91de719", [ "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1" ], "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "2f3e7d98347047829630f0114694a532", [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1" ], "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", [ "f7ef3082a05c40659421f0a21731ae1b", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "AIOOOO5OXWXKM:3OCHAWUVGQNJVEJI0HVA6ONKCQQXKH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.3002, 3.51415, -2.49961 ], "start_rotation": [ 0, 0.12243, 0, -0.99248 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.20245, "euclidean_distance": 6.25202, "closest_goal_object_id": 4, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.42339, 3.51415, -8.87889 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "18ea875fed1b4dc99363420c08cb4300", "path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A9K0CV70JWG1W:3Y4W8Q93L1NJDJ8D8L85EQV9DO0DVX", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.77444, 3.51415, 1.96041 ], "start_rotation": [ 0, 0.16576, 0, 0.98617 ], "object_category": "stool", "info": { "geodesic_distance": 8.7655, "euclidean_distance": 8.19271, "closest_goal_object_id": 100, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.96448, 3.51415, -5.79408 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "810702d87ddc4964a583f8b7a3b9c43c", "path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ], "refined_path": [ "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3JV9LGBJWVHRZJ979ZNZPJ4YUS7OGE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.88153, -0.05294, -10.03699 ], "start_rotation": [ 0, 0.15127, 0, 0.98849 ], "object_category": "seating", "info": { "geodesic_distance": 12.64065, "euclidean_distance": 10.75637, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.83673, 0.11415, 0.78721 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "a1e9eb0276cb4b0e8c568d7b8a9127ee", "path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "A9K0CV70JWG1W:3EWIJTFFVQA8COLX1JV0ZFN4M0IE0O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.94384, 0.11415, 4.64515 ], "start_rotation": [ 0, 0.46788, 0, 0.88379 ], "object_category": "toilet", "info": { "geodesic_distance": 7.86065, "euclidean_distance": 7.23938, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.05363, 0.11415, 8.6762 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", [ "7efbe13d514b4797b540aecffe79aa03" ], "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A3O5RKGH6VB19C:3FIJLY1B6W736JPDDFUWWY9C3BSPF8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.11782, 0.11415, 9.78072 ], "start_rotation": [ 0, 0.84862, 0, 0.52901 ], "object_category": "chair", "info": { "geodesic_distance": 3.76815, "euclidean_distance": 2.35485, "closest_goal_object_id": 431, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.0515, 0.11415, 8.35017 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "63c6a6491f9d4825a696fbe778a2d6f9", "path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf" ], "refined_path": [ "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf" ] }, { "episode_id": "A2TUUIV61CR0C7:3AMW0RGHOF5FUB2UB3D943IKRKJPN4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.65169, 3.51415, -2.37065 ], "start_rotation": [ 0, 0.79768, 0, -0.60309 ], "object_category": "toilet", "info": { "geodesic_distance": 13.59409, "euclidean_distance": 3.59361, "closest_goal_object_id": 50, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.25463, 3.51415, -5.55342 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "AQ0YWEW29GSIJ:3EQHHY4HQUV5R93P4KR0GD470GH5GU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.7689, 1.91415, -3.63246 ], "start_rotation": [ 0, 0.12867, 0, -0.99169 ], "object_category": "seating", "info": { "geodesic_distance": 8.92371, "euclidean_distance": 8.31833, "closest_goal_object_id": 869, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.8876, 0.11415, 0.68643 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_seating", "start_potision_viewpoint_id": "159bf39081724055a73e686a6577096b", "path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ], "refined_path": [ "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8" ] }, { "episode_id": "AOWW3URQNRJ6U:3RUIQRXJBDRZFQKB7Y4NAU5BHFALLS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.84386, 0.11415, 10.91406 ], "start_rotation": [ 0, 0.93581, 0, -0.3525 ], "object_category": "bed", "info": { "geodesic_distance": 22.02106, "euclidean_distance": 19.8823, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.95356, 0.11415, -7.93577 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "176424bc97d94b12a52aefbdfb8c00d9", "path": [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A29CNQYJWMJ7G9:3DPNQGW4LNILYXAJE2Z4ZUL462S64P", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.39813, -0.08585, -11.75157 ], "start_rotation": [ 0, 0.82817, 0, -0.56047 ], "object_category": "stool", "info": { "geodesic_distance": 13.70614, "euclidean_distance": 12.52915, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.28825, 0.11415, -0.20371 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cce150ca22c249d2918ac9d0ee8689e6", [ "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "163d61ac7edb43fb958c5d9e69ae11ad", [ "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "AOMFEAWQHU3D8:3KAKFY4PGW5G9LMGGP3AMSJ2Y1UI3O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.68755, 0.11415, 5.6038 ], "start_rotation": [ 0, 0.72923, 0, -0.68427 ], "object_category": "sink", "info": { "geodesic_distance": 5.07642, "euclidean_distance": 4.6351, "closest_goal_object_id": 439, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.21235, 0.11415, 8.71066 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3X4MXAO0BIRQTIRNGW8L5HVRZQ6RWO", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.61655, 0.11415, 9.0835 ], "start_rotation": [ 0, 0.99473, 0, -0.10254 ], "object_category": "towel", "info": { "geodesic_distance": 7.21372, "euclidean_distance": 6.62478, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.00911, 0.11415, 8.41605 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "deb99671679648e28ccf7d622051ab46", "path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", [ "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A9K0CV70JWG1W:33C7UALJVN1RACWOKZD0LAASDRE81B", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.12971, 3.72195, -8.39031 ], "start_rotation": [ 0, 0.59963, 0, -0.80028 ], "object_category": "chair", "info": { "geodesic_distance": 2.4442, "euclidean_distance": 2.26177, "closest_goal_object_id": 59, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.41965, 3.51415, -8.21863 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "fed8aaa68c9b43a3b83770b4bd2324ed", "path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] }, { "episode_id": "A2L26DMSVUEDP6:3HWRJOOET758DX59ALEK9LTMY12SEN", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.52061, -0.01195, -0.78319 ], "start_rotation": [ 0, 0.99831, 0, -0.0581 ], "object_category": "table", "info": { "geodesic_distance": 5.46008, "euclidean_distance": 5.12017, "closest_goal_object_id": 599, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.0537, 0.11415, 2.97289 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A26LOVXF4QZZCO:33L7PJKHCI1SJW8XMIXARGTMRNK8T9", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.50325, 0.11415, -4.84633 ], "start_rotation": [ 0, 0.93273, 0, 0.36057 ], "object_category": "sink", "info": { "geodesic_distance": 1.80592, "euclidean_distance": 1.35535, "closest_goal_object_id": 818, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.85049, 0.11415, -4.95511 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "dd735554f3c94e0bb22097e78d0209e8", "path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:32M8BPYGAVPH3XY4B4AU5M8CI7HIGY", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.04685, 3.51415, 10.96886 ], "start_rotation": [ 0, 0.13914, 0, -0.99027 ], "object_category": "counter", "info": { "geodesic_distance": 21.97477, "euclidean_distance": 20.26127, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.13401, 3.51415, -9.07467 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a7fef2bee6444714acf0476fe84f9000", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2" ] }, { "episode_id": "A2DDPSXH2X96RF:3FE2ERCCZZBXCW26CIDMJSIPHI6POD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.76947, 0.11415, 0.42032 ], "start_rotation": [ 0, 0.88903, 0, -0.45784 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.0771, "euclidean_distance": 7.56506, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.68211, 0.11415, 6.91528 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "0_edge_37_newN_0", "path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "7cdc2565c773401289b95360da22e017" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A3K1P4SPR8XS7R:3MAOD8E57SDK3K4LXUNQYG4O71TXNH", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.51973, 0.0524, -0.37225 ], "start_rotation": [ 0, 0.99105, 0, -0.13346 ], "object_category": "chair", "info": { "geodesic_distance": 2.48641, "euclidean_distance": 1.38302, "closest_goal_object_id": 720, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.88398, 0.11415, -0.81592 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chair", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3RSDURM96CP59JHI9R69R7HOUZIEYE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.75646, 0.10149, -1.15935 ], "start_rotation": [ 0, 0.90097, 0, 0.43389 ], "object_category": "shower", "info": { "geodesic_distance": 18.4048, "euclidean_distance": 9.8248, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.24484, 3.51415, -8.5374 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "817aaa8a1f7b4d93b4e3c4f765cf46aa", [ "163d61ac7edb43fb958c5d9e69ae11ad" ], "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183" ], "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:3K4J6M3CXGW2XFF6ZGIHOOKT8ZDGAW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.99243, 0.11415, 0.54218 ], "start_rotation": [ 0, 0.31827, 0, 0.948 ], "object_category": "counter", "info": { "geodesic_distance": 9.27227, "euclidean_distance": 8.65827, "closest_goal_object_id": 428, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.44112, 0.11415, 7.81252 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "c3c0a1a738a749a7a986d64c872b7671", "path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "f7ef3082a05c40659421f0a21731ae1b", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", [ "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "f7ef3082a05c40659421f0a21731ae1b", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A3O5RKGH6VB19C:3PZDLQMM0VO0B04XKFTJSFGGVICC2P", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.53186, 3.51415, 11.71005 ], "start_rotation": [ 0, 0.87773, 0, -0.47916 ], "object_category": "towel", "info": { "geodesic_distance": 18.50609, "euclidean_distance": 14.0495, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.01503, 3.51415, -2.30291 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "2f3e7d98347047829630f0114694a532", "path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ], "refined_path": [ "2f3e7d98347047829630f0114694a532", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000", [ "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "dbce7eccf4a140338da926d313e07b5c", "138030a069484c288b3b77f8a7cbd7be", "4ed46372db6849e28e1ed9ada35efeac", [ "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16" ] }, { "episode_id": "A1RQLE4ZMTU22A:3DZQRBDBSNI53ZPCL1XOQUPP9D23S1", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.52976, 0.11415, 8.29872 ], "start_rotation": [ 0, 0.99421, 0, -0.10745 ], "object_category": "shower", "info": { "geodesic_distance": 23.89784, "euclidean_distance": 17.31036, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.29543, 3.51415, -8.54619 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_93_newN_1", "path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de" ], "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A28U7B76HLCS1U:3W2LOLRXLDIZYIX6RIPIH61WFKDRKD", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.0842, 3.51415, -6.20198 ], "start_rotation": [ 0, 0.71955, 0, 0.69444 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.17552, "euclidean_distance": 4.59442, "closest_goal_object_id": 10, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.15609, 3.51415, -8.57055 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "12a0b0641a9a4794bb49bbcf13cea981", "path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "fec0a4503f7d4cee8f491934eff0d498", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", [ "834865d0e74042d38b796ded2488d64c" ], "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ] }, { "episode_id": "A1RQLE4ZMTU22A:3DIP6YHAPEVQUDQ0WN8FSUTM2228EI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.14234, 0.11415, 9.44795 ], "start_rotation": [ 0, 0.02875, 0, 0.99959 ], "object_category": "stool", "info": { "geodesic_distance": 7.86814, "euclidean_distance": 6.87039, "closest_goal_object_id": 552, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.99135, 0.11415, 8.52828 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "7f6caa8939ec48be91f7404a9ff10624", "path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "1eae38cbbaf744f99de90c99d8c013f1", [ "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A3T5UAYFKJBVTA:35L9RVQFCQL0CKOFPRHQ9P8OR2IUHI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 2.90968, 0.03348, -1.00707 ], "start_rotation": [ 0, 0.89999, 0, 0.43591 ], "object_category": "sink", "info": { "geodesic_distance": 12.10785, "euclidean_distance": 7.89934, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.70199, 0.11415, -7.9519 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8" ] }, { "episode_id": "A3T5UAYFKJBVTA:3NGMS9VZTNLRF60JZCYRK4V7NIAFFA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.50025, -0.08585, 0.5611 ], "start_rotation": [ 0, 0.04026, 0, 0.99919 ], "object_category": "picture", "info": { "geodesic_distance": 6.45599, "euclidean_distance": 6.07296, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.14513, 0.11415, -1.77562 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0" ] }, { "episode_id": "A19C2SO0IMRZ1L:30LB5CDZNED6NJCTX69DKPOMA7JZ09", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.07455, 3.51415, -7.34431 ], "start_rotation": [ 0, 0.79558, 0, -0.60584 ], "object_category": "sofa", "info": { "geodesic_distance": 13.76641, "euclidean_distance": 8.28006, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.18471, 0.11415, 0.20414 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "4cf4c84ed4ae48b2b4076fb0e742d5f1", "path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "0_edge_58_newN_0", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ], "refined_path": [ "4cf4c84ed4ae48b2b4076fb0e742d5f1", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_37_newN_0", "54c9298c439a4e64bc983020e4211592" ] }, { "episode_id": "A3NFGEUZAH9V5G:3WR9XG3T65E42XOOXC4W58L0HOP471", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.1459, 3.51415, 12.54883 ], "start_rotation": [ 0, 0.99975, 0, 0.02221 ], "object_category": "toilet", "info": { "geodesic_distance": 9.88531, "euclidean_distance": 8.00154, "closest_goal_object_id": 210, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.23379, 3.51415, 6.42155 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "AXY0D2AMLKE2A:3OF2M9AATIR809JX1ZJV393VKQJZKB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.44136, 3.51415, 8.16937 ], "start_rotation": [ 0, 0.58127, 0, -0.81371 ], "object_category": "shower", "info": { "geodesic_distance": 4.42986, "euclidean_distance": 3.88697, "closest_goal_object_id": 200, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.17067, 3.51415, 6.39164 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_125_newN_2", "path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ], "refined_path": [ "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", "a7fef2bee6444714acf0476fe84f9000" ] }, { "episode_id": "A3K1P4SPR8XS7R:3JPSL1DZ5U2877WSMKVCE8TQ9F8ANF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.34555, 3.51415, -6.19489 ], "start_rotation": [ 0, 0.39907, 0, -0.91692 ], "object_category": "table", "info": { "geodesic_distance": 11.37458, "euclidean_distance": 10.50211, "closest_goal_object_id": 147, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.53762, 3.51415, 3.15449 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "0f42320ef887416fb8ed9b91b6641cfc", "path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", [ "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7" ], "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3WRFBPLXRCR8NMX7D5G2R0FKNV8N3O", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.85523, 3.51415, 7.76017 ], "start_rotation": [ 0, 0.86891, 0, -0.49497 ], "object_category": "fireplace", "info": { "geodesic_distance": 26.87835, "euclidean_distance": 5.17195, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.11667, 0.11415, 3.88291 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "0_edge_69_newN_2", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "instruction": "Locate the fireplace.", "instr_encoding": [ 101, 12453, 1996, 13788, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", [ "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a" ] }, { "episode_id": "A3HL2LL0LEPZT8:3UN61F00HYSWGZC3KVLCFHIEFUT5RE", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.70728, 0.11415, -9.04241 ], "start_rotation": [ 0, 0.78195, 0, 0.62335 ], "object_category": "sink", "info": { "geodesic_distance": 1.35217, "euclidean_distance": 1.26789, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.58136, 0.11415, -8.32915 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "4f07d9e99e084876b0765220888d2545", "path": [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ], "refined_path": [ "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017" ] }, { "episode_id": "A1BZNPQ0H7ZSER:37TD41K0AJCTGZLVEU8PJXTKTPBCSI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.85841, 3.51415, -2.07305 ], "start_rotation": [ 0, 0.98665, 0, 0.16288 ], "object_category": "plant", "info": { "geodesic_distance": 8.75628, "euclidean_distance": 6.8924, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.18148, 3.51415, 4.35368 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "7d887c096fa64a81a02723f8c283ca16", "path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ], "refined_path": [ "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a" ] }, { "episode_id": "A2TUUIV61CR0C7:3BC8WZX3V5ZLLMA1H2YFIINA61JRRS", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.55449, 0.11415, -0.58085 ], "start_rotation": [ 0, 0.71289, 0, 0.70127 ], "object_category": "cabinet", "info": { "geodesic_distance": 11.03821, "euclidean_distance": 8.83174, "closest_goal_object_id": 554, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 8.77737, 0.11415, 6.9152 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cabinet", "start_potision_viewpoint_id": "e28810ab6e9745f89e3b124320caf5a8", "path": [ "e28810ab6e9745f89e3b124320caf5a8", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "0_edge_58_newN_2", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "e28810ab6e9745f89e3b124320caf5a8", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ], "refined_path": [ "e28810ab6e9745f89e3b124320caf5a8", "54c9298c439a4e64bc983020e4211592", "0_edge_37_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_0", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_58_newN_2", [ "c3c0a1a738a749a7a986d64c872b7671" ], "0_edge_133_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", [ "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0" ] }, { "episode_id": "A272X64FOZFYLB:31N2WW6R9TTWZUKQFHXPJV6AKRC3FU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.40119, 3.51415, 2.58581 ], "start_rotation": [ 0, 0.93623, 0, 0.35139 ], "object_category": "towel", "info": { "geodesic_distance": 11.59169, "euclidean_distance": 4.87338, "closest_goal_object_id": 157, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.07248, 3.51415, -2.33476 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "9dfb6ed5ed7b47b199d8aa7e5b34727a", "path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ], "refined_path": [ "9dfb6ed5ed7b47b199d8aa7e5b34727a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3LKC68YZ3C6NW5Z7O4RHBMQLARPOWB", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.84104, -0.03921, -1.38387 ], "start_rotation": [ 0, 0.85625, 0, -0.51655 ], "object_category": "bed", "info": { "geodesic_distance": 14.18474, "euclidean_distance": 10.55297, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.00686, 0.11415, -7.96293 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A9K0CV70JWG1W:33L7PJKHCI1SJW8XMIXARGTN55Q8TV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 10.11578, 0.11415, -5.43493 ], "start_rotation": [ 0, 0.21175, 0, 0.97732 ], "object_category": "towel", "info": { "geodesic_distance": 3.43518, "euclidean_distance": 3.20914, "closest_goal_object_id": 810, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.02971, 0.11415, -4.49975 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "3ecb492d5019411785bab293ff4f74ee", "path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A3D1M3FDM1Z8E4:3A4TN5196ML4QQ7F30WQFJMH2QSHC4", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.77226, 0.11415, 5.10146 ], "start_rotation": [ 0, 0.94511, 0, -0.32674 ], "object_category": "shower", "info": { "geodesic_distance": 19.37413, "euclidean_distance": 14.20401, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.26099, 3.51415, -8.61471 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "7d1e000e54d942168b24155d12cd265b", "path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "0_edge_58_newN_3", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "0d3a3b42009441e2a02200423049d804", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "a6c8016b0fa94ebaa51c2808c6fec8ba", [ "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9", [ "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0" ], "0d3a3b42009441e2a02200423049d804", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A1198W1SPF1R4:3ERMJ6L4D0VK6NDU3G4SR2203GZ7MQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.38992, 0.11415, 11.16704 ], "start_rotation": [ 0, 0.96481, 0, 0.26296 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 15.46639, "euclidean_distance": 12.34348, "closest_goal_object_id": 760, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.1444, 0.11415, -0.03477 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "6cc97300dcd2469c82449756fef5cffd", "path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ], "refined_path": [ "6cc97300dcd2469c82449756fef5cffd", "176424bc97d94b12a52aefbdfb8c00d9", "eb8781b9756346c9b97ae6d5e43b6d13", "4e796cd1c4594f9fb07bf8b48edf2dc2", "deb99671679648e28ccf7d622051ab46", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "f7ef3082a05c40659421f0a21731ae1b" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3TXMY6UCAGRH3J6IMQJKOXEIXCLCQU", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.46228, 0.11415, 7.10514 ], "start_rotation": [ 0, 0.0119, 0, -0.99993 ], "object_category": "bed", "info": { "geodesic_distance": 18.2643, "euclidean_distance": 16.46032, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.04352, 0.11415, -7.97307 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "49b4f59afc74417d846ad8cf1634e3d8", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "0d3a3b42009441e2a02200423049d804", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", [ "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "AZPZDX26SYMFY:3UNH76FOCU83L79VQPUS4FMX7F0YMA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.09095, 0.11415, 5.24575 ], "start_rotation": [ 0, 0.08998, 0, 0.99594 ], "object_category": "bed", "info": { "geodesic_distance": 14.59032, "euclidean_distance": 13.35737, "closest_goal_object_id": 835, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.02512, 0.11415, -7.9863 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3LQ8PUHQFNVV3TTFVASCQMKCJUCHI8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.73832, 3.51415, 4.43659 ], "start_rotation": [ 0, 0.89808, 0, 0.43983 ], "object_category": "bed", "info": { "geodesic_distance": 7.08585, "euclidean_distance": 5.64314, "closest_goal_object_id": 284, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 5.76346, 3.51415, 9.77083 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bed", "start_potision_viewpoint_id": "f6af6b4247ea4353b90f8bce6e05f58a", "path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "416df61743e24e828609f0698df3f51b", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ], "refined_path": [ "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "416df61743e24e828609f0698df3f51b", [ "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6" ] }, { "episode_id": "A3NFGEUZAH9V5G:3ZPPDN2SLXZQ8I9A1FETSQOW8JVE9U", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 13.22705, 3.51415, 12.13251 ], "start_rotation": [ 0, 0.90437, 0, -0.42675 ], "object_category": "picture", "info": { "geodesic_distance": 5.56608, "euclidean_distance": 5.17865, "closest_goal_object_id": 763, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.54527, 3.51415, 7.7585 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "f6cbc0517fc14f129f5456e59dc66c76", "path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "refined_path": [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad" ] }, { "episode_id": "A1R0689JPSQ3OF:3ZV9H2YQQFAYAG6L567PNJSAFQ13WJ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.83088, 0.11415, 0.06825 ], "start_rotation": [ 0, 0.48054, 0, 0.87697 ], "object_category": "shower", "info": { "geodesic_distance": 14.36722, "euclidean_distance": 9.42381, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.23579, 3.51415, -8.53235 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "67dd134230034fc18ab8c30abd9af183", "path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "7cdc2565c773401289b95360da22e017", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0" ], "refined_path": [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:39ASUFLU6ZAG9ER84VK78TAFTBREXC", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.5988, 0.05298, 0.08831 ], "start_rotation": [ 0, 0.61446, 0, 0.78895 ], "object_category": "table", "info": { "geodesic_distance": 4.09122, "euclidean_distance": 3.75191, "closest_goal_object_id": 599, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.04008, 0.11415, 2.8781 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_table", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0" ] }, { "episode_id": "A9K0CV70JWG1W:32Z9ZLUT1NN5ZF4IT55HAJGZCIKOHW", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.17629, 0.00653, -0.06601 ], "start_rotation": [ 0, 0.71808, 0, -0.69596 ], "object_category": "picture", "info": { "geodesic_distance": 4.8127, "euclidean_distance": 4.28479, "closest_goal_object_id": 739, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.07749, 0.11415, -1.77346 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ] }, { "episode_id": "A2DDPSXH2X96RF:3C6FJU71TSWMYFE4ZRLEVP3Q1XAYUG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 3.50825, 0.08318, -1.17353 ], "start_rotation": [ 0, 0.98571, 0, -0.16843 ], "object_category": "sink", "info": { "geodesic_distance": 11.88828, "euclidean_distance": 7.47778, "closest_goal_object_id": 890, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.79996, 0.11415, -7.98302 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sink", "start_potision_viewpoint_id": "163d61ac7edb43fb958c5d9e69ae11ad", "path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ], "refined_path": [ "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "42524ad2f3f44645a1dc3bd8486560cf", "92c89626241c4fbbb9294eb7db7f9da0", "7f6caa8939ec48be91f7404a9ff10624" ] }, { "episode_id": "A19C2SO0IMRZ1L:3RGU30DZTCBDQIEW4PTPUS79RE3JMG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.59398, 3.51415, 8.21931 ], "start_rotation": [ 0, 0.81614, 0, -0.57786 ], "object_category": "cushion", "info": { "geodesic_distance": 7.29956, "euclidean_distance": 6.85837, "closest_goal_object_id": 112, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 6.83609, 3.51415, 3.50343 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "a8ae1f18502e4a6aa301af029f976f5f", "path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ], "refined_path": [ "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6" ] }, { "episode_id": "A3FSDH6HUZPNQ8:33CUSNVVNPF9LCG9JKMF0KX0RYP882", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 9.3366, 3.51415, 10.33778 ], "start_rotation": [ 0, 0.88779, 0, 0.46025 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.92776, "euclidean_distance": 4.93403, "closest_goal_object_id": 215, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 4.41557, 3.51415, 9.31252 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_125_newN_1", "path": [ "0_edge_125_newN_1", "0_edge_125_newN_0", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_125_newN_1", "0_edge_125_newN_0", "0_edge_125_newN_1", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "0_edge_125_newN_1", "0_edge_125_newN_0", [ "0_edge_125_newN_1" ], "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b" ], "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "AIIOT9A7ARQZW:32AT8R96GNCP2T2V0LTPD3FQ0CIUSK", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.58044, 0.11415, 2.17501 ], "start_rotation": [ 0, 0.91945, 0, 0.3932 ], "object_category": "towel", "info": { "geodesic_distance": 12.20909, "euclidean_distance": 11.44404, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.98602, 0.11415, 8.4803 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "64fdd371adc042558d30fa9bd00a00f5", "path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8" ], "refined_path": [ "64fdd371adc042558d30fa9bd00a00f5", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b" ], "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8" ] ] }, { "episode_id": "A1R0689JPSQ3OF:3L0KT67Y8GJ6J2M0AMQEGOL2G0USYZ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.61742, -0.08585, -11.00687 ], "start_rotation": [ 0, 0.76106, 0, 0.64868 ], "object_category": "picture", "info": { "geodesic_distance": 4.63553, "euclidean_distance": 4.33537, "closest_goal_object_id": 832, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.58718, 0.11415, -9.18882 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_picture", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ] ] }, { "episode_id": "A7XL1V3G7C2VV:31Q0U3WYDRINAYR5AULU7AEX55K71Y", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 11.01357, 0.23961, 5.63818 ], "start_rotation": [ 0, 0.99963, 0, 0.0271 ], "object_category": "toilet", "info": { "geodesic_distance": 10.99802, "euclidean_distance": 9.52234, "closest_goal_object_id": 382, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.04474, 0.11415, 8.68745 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "8e63389afc02448a9d0dd695bc50253a", "path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "8e63389afc02448a9d0dd695bc50253a", "0_edge_73_newN_1", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "AQ0YWEW29GSIJ:3K772S5NPAEJNORTZR2L57ML8D9HEA", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.79025, 0.11415, -5.17462 ], "start_rotation": [ 0, 0.6215, 0, -0.78341 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.73138, "euclidean_distance": 5.67149, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.74557, 0.11415, -1.16502 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "73f8049b6198422aa5f2edfc71fe423b", "path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "refined_path": [ "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ] }, { "episode_id": "A3L8LSM7V7KX3T:3YZ8UPK3VVP9VCDZ3Z3PYYB7YF2CU8", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.28051, 0.11415, -1.35554 ], "start_rotation": [ 0, 0.71702, 0, 0.69706 ], "object_category": "stool", "info": { "geodesic_distance": 1.79944, "euclidean_distance": 1.53803, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.37055, 0.11415, -0.23634 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "cc896d0984cc4661bff9087a0df6967c", "path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A1R0689JPSQ3OF:3DYGAII7PNB0X8FMRV5Q8XDPU4QPQR", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.58494, 3.51415, -0.66157 ], "start_rotation": [ 0, 0.42151, 0, -0.90682 ], "object_category": "counter", "info": { "geodesic_distance": 8.72932, "euclidean_distance": 8.53329, "closest_goal_object_id": 24, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.08962, 3.51415, -9.04862 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_counter", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "fec0a4503f7d4cee8f491934eff0d498", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "A29CNQYJWMJ7G9:3YMTUJH0DUJR0VLVAF7XA4DI3VR4T5", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.9243, 3.51415, 3.18381 ], "start_rotation": [ 0, 0.55105, 0, 0.83447 ], "object_category": "sofa", "info": { "geodesic_distance": 18.19337, "euclidean_distance": 6.23489, "closest_goal_object_id": 626, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.12438, 0.11415, 0.2011 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_sofa", "start_potision_viewpoint_id": "6043285f84fe401d97d017c42b426fd6", "path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "148a81e548314c67b6f5f226601a27de", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb", [ "f6cbc0517fc14f129f5456e59dc66c76", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad" ], "55e5280eea474acfb993bf68a193bb25", "463e439a4e974a00b23bfe7c684a2607", "7e1850bf73f24a7f9ab824a82143e1b6", [ "463e439a4e974a00b23bfe7c684a2607" ], "8919ba4762914e899c88536f11c7bb92", "c3b8b8e1f0994859869b42fb760fce9f", "138030a069484c288b3b77f8a7cbd7be", [ "c3b8b8e1f0994859869b42fb760fce9f", "8919ba4762914e899c88536f11c7bb92", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a" ], "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", [ "18ea875fed1b4dc99363420c08cb4300" ], "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "12a0b0641a9a4794bb49bbcf13cea981", [ "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7" ], "1239dba1b6234964b420a56d82d79d7a", "159bf39081724055a73e686a6577096b", "6c34dde402304953a9416e2781de607f", "5a72c23b99fa40f1bcd9dfbb60340b05", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] }, { "episode_id": "A1R0689JPSQ3OF:3M68NM076JASZ3CHPEVH7NWEBVMR6A", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 8.0997, 3.51415, -0.55155 ], "start_rotation": [ 0, 0.8487, 0, -0.52887 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.62535, "euclidean_distance": 4.67407, "closest_goal_object_id": 69, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.73713, 3.51415, -4.99975 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_chest_of_drawers", "start_potision_viewpoint_id": "5e102e6df0e544578c407d3b4373f737", "path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ], "refined_path": [ "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284" ] }, { "episode_id": "A2GQH4SWIOFH2L:3TVRFO09GMIUFK10LH7BLO0Z55TXLG", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.9659, 3.51415, -8.57088 ], "start_rotation": [ 0, 0.89998, 0, 0.43593 ], "object_category": "plant", "info": { "geodesic_distance": 14.44271, "euclidean_distance": 13.06907, "closest_goal_object_id": 153, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 7.10414, 3.51415, 4.43256 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "df9d294a3f8849f6ab267f658847f700", "path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc", "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ], "refined_path": [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700" ], "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "0f42320ef887416fb8ed9b91b6641cfc", "834865d0e74042d38b796ded2488d64c", "12a0b0641a9a4794bb49bbcf13cea981", [ "834865d0e74042d38b796ded2488d64c", "0f42320ef887416fb8ed9b91b6641cfc" ], "31ae672c4fda4ce29add4798d07ce3b1", "29f8bc9c86e94a3692ec50fbad2e7204", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "5e102e6df0e544578c407d3b4373f737", "810702d87ddc4964a583f8b7a3b9c43c", "f6af6b4247ea4353b90f8bce6e05f58a", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f" ], "f6cbc0517fc14f129f5456e59dc66c76", "54e13e385fac4638b050f5c73095ecdb" ] }, { "episode_id": "AU2C0Q45DVGJO:3P529IW9K0ODFYAFLN1PFH0S11DFLP", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 12.24895, 0.11415, -6.64683 ], "start_rotation": [ 0, 0.99068, 0, 0.13622 ], "object_category": "fireplace", "info": { "geodesic_distance": 16.22832, "euclidean_distance": 10.79204, "closest_goal_object_id": 676, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.17133, 0.11415, 3.95561 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_fireplace", "start_potision_viewpoint_id": "dbec0f4e228c44cda1f991905404541c", "path": [ "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "4f07d9e99e084876b0765220888d2545", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_58_newN_3", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "instruction": "Find the fireplace.", "instr_encoding": [ 101, 2424, 1996, 13788, 1012, 102 ], "original_path": [ "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "0_edge_58_newN_3", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ], "refined_path": [ "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", [ "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c" ], "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "3ecb492d5019411785bab293ff4f74ee" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", [ "76ba074e4b7a46feb3d829302db3bd2e", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", [ "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b" ], "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183" ], "0_edge_58_newN_3", [ "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1", "8e63389afc02448a9d0dd695bc50253a", "3a457e1e32504249a561c9d259e0835a", "0_edge_3_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:308XBLVESK7Y5FTCL5CPI3I6SS2BRF", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 6.72578, -0.08585, -10.53707 ], "start_rotation": [ 0, 0.57787, 0, 0.81613 ], "object_category": "toilet", "info": { "geodesic_distance": 9.31631, "euclidean_distance": 8.62519, "closest_goal_object_id": 806, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 12.81627, 0.11415, -4.58629 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_toilet", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", [ "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", "5cd8a7aa73d841a4b540b19cf91de719", "33f72d3f5ada42d09785a13fe1ff804f" ] }, { "episode_id": "A1ZE52NWZPN85P:39OWYR0EPMUXFXHE42QF9P2NTPRFYQ", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.51319, 0.11415, -8.23108 ], "start_rotation": [ 0, 0.3609, 0, 0.9326 ], "object_category": "shower", "info": { "geodesic_distance": 17.51327, "euclidean_distance": 3.79896, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.21785, 3.51415, -8.56695 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "7cdc2565c773401289b95360da22e017", "path": [ "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ], "refined_path": [ "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "18ea875fed1b4dc99363420c08cb4300", "6a3fba49106e4a9fb40cd0bf47dd4d46", "7d887c096fa64a81a02723f8c283ca16", [ "6a3fba49106e4a9fb40cd0bf47dd4d46", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7" ], "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", [ "cf7c2bd80f934238aede140bb9bd1284", "4cf4c84ed4ae48b2b4076fb0e742d5f1" ] ] }, { "episode_id": "A3KC26Z78FBOJT:3H7Z272LX9AP6BZ9ZQXURBEVKWQPLL", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.33393, 0.11415, 7.6891 ], "start_rotation": [ 0, 0.94353, 0, 0.33128 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.60845, "euclidean_distance": 11.51705, "closest_goal_object_id": 802, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 11.77125, 0.11415, -1.16049 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_bathtub", "start_potision_viewpoint_id": "92c89626241c4fbbb9294eb7db7f9da0", "path": [ "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "92c89626241c4fbbb9294eb7db7f9da0", "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ], "refined_path": [ "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", [ "92c89626241c4fbbb9294eb7db7f9da0" ], "42524ad2f3f44645a1dc3bd8486560cf", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "0_edge_93_newN_1", "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_8_newN_2", [ "a6c8016b0fa94ebaa51c2808c6fec8ba", "0_edge_93_newN_1", "1407cf2da95e4f73951798295db82ab6", "55f38bb2e60d46f49803ff9fc3911b28" ], "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00" ] }, { "episode_id": "A1P3HHEXWNLJMP:31JLPPHS2WXQ57XJEKGF6PFPQ12O3Y", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.23983, 0.11415, 3.58442 ], "start_rotation": [ 0, 0.42409, 0, 0.90562 ], "object_category": "shower", "info": { "geodesic_distance": 17.93191, "euclidean_distance": 12.81364, "closest_goal_object_id": 3, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.24436, 3.51415, -8.45938 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_shower", "start_potision_viewpoint_id": "0_edge_73_newN_0", "path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "55f38bb2e60d46f49803ff9fc3911b28", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "0_edge_82_newN_0" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", "df9d294a3f8849f6ab267f658847f700", "0_edge_82_newN_0", "df9d294a3f8849f6ab267f658847f700" ], "refined_path": [ "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c", "73f8049b6198422aa5f2edfc71fe423b", "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", [ "f4d601b86e624ad2a8d77280f36c7872" ], "dbec0f4e228c44cda1f991905404541c", "6d51167d46ea4b47b9c7e9afb12ed459", "dd735554f3c94e0bb22097e78d0209e8", "fcbd96fa9e054e8298ab129371fa5c00", [ "dd735554f3c94e0bb22097e78d0209e8", "6d51167d46ea4b47b9c7e9afb12ed459", "dbec0f4e228c44cda1f991905404541c", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "0_edge_57_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_25_newN_0", "f4d601b86e624ad2a8d77280f36c7872", "0_edge_57_newN_0", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", [ "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "20f6b7fcb5254024aacdd907da2eb315", "67dd134230034fc18ab8c30abd9af183", "cc896d0984cc4661bff9087a0df6967c" ], "5a72c23b99fa40f1bcd9dfbb60340b05", "6c34dde402304953a9416e2781de607f", "159bf39081724055a73e686a6577096b", "1239dba1b6234964b420a56d82d79d7a", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "4cf4c84ed4ae48b2b4076fb0e742d5f1", "cf7c2bd80f934238aede140bb9bd1284", "df9d294a3f8849f6ab267f658847f700", "fed8aaa68c9b43a3b83770b4bd2324ed", [ "df9d294a3f8849f6ab267f658847f700" ], "0_edge_82_newN_0", [ "df9d294a3f8849f6ab267f658847f700" ] ] }, { "episode_id": "A21ZK49H9LSSRY:3FUI0JHJPZ11JI4XVMWNIMHEYPD33M", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 7.51636, 0.11415, -7.83103 ], "start_rotation": [ 0, 0.01027, 0, -0.99995 ], "object_category": "plant", "info": { "geodesic_distance": 7.79478, "euclidean_distance": 6.86826, "closest_goal_object_id": 812, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 13.04341, 0.11415, -4.06373 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_plant", "start_potision_viewpoint_id": "76ba074e4b7a46feb3d829302db3bd2e", "path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "0_edge_57_newN_1", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "7cdc2565c773401289b95360da22e017", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "0_edge_57_newN_1", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e", "7cdc2565c773401289b95360da22e017", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ], "refined_path": [ "76ba074e4b7a46feb3d829302db3bd2e", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "0_edge_57_newN_1", [ "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03" ], "4f07d9e99e084876b0765220888d2545", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "807061c8c1b04aff9ef4dec6c7f1323e", [ "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "76ba074e4b7a46feb3d829302db3bd2e" ], "7cdc2565c773401289b95360da22e017", [ "76ba074e4b7a46feb3d829302db3bd2e" ], "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "0_edge_73_newN_1" ] }, { "episode_id": "A3RR85PK3AV9TU:3R6BYFZZP9F8FSR4Z64DQBVF5COXFV", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.7382, 3.51415, 8.65968 ], "start_rotation": [ 0, 0.50309, 0, 0.86423 ], "object_category": "cushion", "info": { "geodesic_distance": 3.40067, "euclidean_distance": 3.2204, "closest_goal_object_id": 240, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 2.38886, 3.51415, 11.89212 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "4ed46372db6849e28e1ed9ada35efeac", "path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ], "refined_path": [ "4ed46372db6849e28e1ed9ada35efeac", "138030a069484c288b3b77f8a7cbd7be", "dbce7eccf4a140338da926d313e07b5c" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3WYGZ5XF3YIBZXXJ67PN7G6S1M1SK7", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 1.63022, -0.08585, 0.74549 ], "start_rotation": [ 0, 0.3401, 0, 0.94039 ], "object_category": "towel", "info": { "geodesic_distance": 13.75091, "euclidean_distance": 7.73293, "closest_goal_object_id": 384, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 1.97714, 0.11415, 8.43721 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_towel", "start_potision_viewpoint_id": "817aaa8a1f7b4d93b4e3c4f765cf46aa", "path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", "7d1e000e54d942168b24155d12cd265b", "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ], "refined_path": [ "817aaa8a1f7b4d93b4e3c4f765cf46aa", "163d61ac7edb43fb958c5d9e69ae11ad", "f7ef3082a05c40659421f0a21731ae1b", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "7d1e000e54d942168b24155d12cd265b", "0_edge_73_newN_0", [ "7d1e000e54d942168b24155d12cd265b" ], "55f38bb2e60d46f49803ff9fc3911b28", "1407cf2da95e4f73951798295db82ab6", "deb99671679648e28ccf7d622051ab46", "4e796cd1c4594f9fb07bf8b48edf2dc2", "eb8781b9756346c9b97ae6d5e43b6d13", "176424bc97d94b12a52aefbdfb8c00d9", "7f6caa8939ec48be91f7404a9ff10624", "92c89626241c4fbbb9294eb7db7f9da0", "49b4f59afc74417d846ad8cf1634e3d8", "63c6a6491f9d4825a696fbe778a2d6f9" ] }, { "episode_id": "A3PFU4042GIQLE:3ZSY5X72NZEIO9ILPAHBONI4GUXORT", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.29681, 3.51415, 9.71732 ], "start_rotation": [ 0, 0.99041, 0, 0.13819 ], "object_category": "stool", "info": { "geodesic_distance": 5.31408, "euclidean_distance": 2.42178, "closest_goal_object_id": 242, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 3.46379, 3.51415, 11.37953 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "7e1850bf73f24a7f9ab824a82143e1b6", "path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "148a81e548314c67b6f5f226601a27de", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25", "148a81e548314c67b6f5f226601a27de", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ], "refined_path": [ "7e1850bf73f24a7f9ab824a82143e1b6", "463e439a4e974a00b23bfe7c684a2607", "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", [ "416df61743e24e828609f0698df3f51b" ], "a8ae1f18502e4a6aa301af029f976f5f", "0_edge_69_newN_2", [ "a8ae1f18502e4a6aa301af029f976f5f", "416df61743e24e828609f0698df3f51b", "0_edge_125_newN_2", "416df61743e24e828609f0698df3f51b", "aff833f86ff847a7bcf24bea207c91ad", "55e5280eea474acfb993bf68a193bb25" ], "148a81e548314c67b6f5f226601a27de", [ "55e5280eea474acfb993bf68a193bb25", "aff833f86ff847a7bcf24bea207c91ad" ], "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c", "6043285f84fe401d97d017c42b426fd6", [ "f6af6b4247ea4353b90f8bce6e05f58a", "810702d87ddc4964a583f8b7a3b9c43c" ], "5e102e6df0e544578c407d3b4373f737", "18ea875fed1b4dc99363420c08cb4300", "efa99d80f5024c999633851f5875c6c7", "29f8bc9c86e94a3692ec50fbad2e7204", "31ae672c4fda4ce29add4798d07ce3b1", "0f42320ef887416fb8ed9b91b6641cfc" ] }, { "episode_id": "A2O65E9TOSX7GV:3W2LOLRXLDIZYIX6RIPIH61WCREKRI", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 5.06306, -0.08585, -11.3193 ], "start_rotation": [ 0, 0.78952, 0, -0.61372 ], "object_category": "cushion", "info": { "geodesic_distance": 5.95401, "euclidean_distance": 5.66173, "closest_goal_object_id": 830, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 10.4172, 0.11415, -9.22807 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_cushion", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3A0EX8ZRNAR72G5YZ04JQZB3VGHYB6", "scene_id": "mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb", "start_position": [ 4.66565, -0.08585, -11.60543 ], "start_rotation": [ 0, 0.53778, 0, -0.84309 ], "object_category": "stool", "info": { "geodesic_distance": 13.40712, "euclidean_distance": 12.29082, "closest_goal_object_id": 662, "navigation_bounds": [ [ -0.39951, -0.28585, -12.48578 ], [ 19.28718, 7.93528, 12.9889 ] ], "best_viewpoint_position": [ 9.22115, 0.11415, -0.2354 ] }, "goals": [], "goals_key": "1pXnuDYAj8r.glb_stool", "start_potision_viewpoint_id": "807061c8c1b04aff9ef4dec6c7f1323e", "path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", "7efbe13d514b4797b540aecffe79aa03", "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", "73f8049b6198422aa5f2edfc71fe423b", "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ], "refined_path": [ "807061c8c1b04aff9ef4dec6c7f1323e", "a1e9eb0276cb4b0e8c568d7b8a9127ee", "4f07d9e99e084876b0765220888d2545", "7efbe13d514b4797b540aecffe79aa03", "3ecb492d5019411785bab293ff4f74ee", [ "7efbe13d514b4797b540aecffe79aa03" ], "76ba074e4b7a46feb3d829302db3bd2e", "73f8049b6198422aa5f2edfc71fe423b", "b12981cba2ba4525b377ef503d92b843", [ "73f8049b6198422aa5f2edfc71fe423b" ], "cc896d0984cc4661bff9087a0df6967c", "67dd134230034fc18ab8c30abd9af183", "20f6b7fcb5254024aacdd907da2eb315", "0_edge_133_newN_0", "c3c0a1a738a749a7a986d64c872b7671", "0_edge_58_newN_2" ] } ]