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"4c6a95e53a7f4f959d32d281d06b086b", "40c3d461ced54be485f5d6144952f2de" ] }, { "episode_id": "A1P3HHEXWNLJMP:30BXRYBRP60D4ODKKRWRRDTLQF2WH0", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 1.64503, 0.20982, -0.6528 ], "start_rotation": [ 0, 0.45124, 0, -0.8924 ], "object_category": "bed", "info": { "geodesic_distance": 4.68526, "euclidean_distance": 3.57261, "closest_goal_object_id": 39, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 1.39388, 0.00982, 2.99642 ] }, "goals_key": "HxpKQynjfin.glb_bed", "start_potision_viewpoint_id": "40c3d461ced54be485f5d6144952f2de", "path": [ "40c3d461ced54be485f5d6144952f2de", "4c6a95e53a7f4f959d32d281d06b086b", "6ca411a8612d4a569362c6231dcf1b68", "71f79f342cde467ba037a196c4e04f6a", "e1d49f9c53bf45ae98d0dd8fb613161a", "7a920bf869fd41099e44a0829f818361", "efe359ee05ea46c587196354c2d1cc96", "b7016dcb34d747d2b18281748a257f5a" ], "instruction": "Go to the bed.", 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"closest_goal_object_id": 54, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 2.89526, 0.20982, 0.44479 ] }, "goals_key": "HxpKQynjfin.glb_shower", "start_potision_viewpoint_id": "e1d49f9c53bf45ae98d0dd8fb613161a", "path": [ "e1d49f9c53bf45ae98d0dd8fb613161a", "7a920bf869fd41099e44a0829f818361", "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "e1d49f9c53bf45ae98d0dd8fb613161a", "7a920bf869fd41099e44a0829f818361", "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f" ], "refined_path": [ "e1d49f9c53bf45ae98d0dd8fb613161a", "7a920bf869fd41099e44a0829f818361", "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f" ] }, { "episode_id": "A2TUUIV61CR0C7:3HRMW88U18T6OCDAIHJJCNSD6XJM0W", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 3.07694, 0.00982, 1.89984 ], "start_rotation": [ 0, 0.67634, 0, 0.73659 ], "object_category": "picture", "info": { "geodesic_distance": 3.62476, "euclidean_distance": 3.43816, "closest_goal_object_id": 89, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 0.97648, 0.00982, 4.53411 ] }, "goals_key": "HxpKQynjfin.glb_picture", "start_potision_viewpoint_id": "cb4041ea2afa4816a136fd5e1ea363f3", "path": [ "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "1dc09ae6cd914f67b9234869e5e11104", "96478d4e66104792b0481887c85255a8" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "1dc09ae6cd914f67b9234869e5e11104", "96478d4e66104792b0481887c85255a8" ], "refined_path": [ "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "1dc09ae6cd914f67b9234869e5e11104", "96478d4e66104792b0481887c85255a8" ] }, { "episode_id": "A2TUUIV61CR0C7:3YZ8UPK3VVP9VCDZ3Z3PYYB8S8HCU5", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 0.12863, 0.00982, 1.87447 ], 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"b7016dcb34d747d2b18281748a257f5a", "path": [ "b7016dcb34d747d2b18281748a257f5a", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "1dc09ae6cd914f67b9234869e5e11104", "96478d4e66104792b0481887c85255a8" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "b7016dcb34d747d2b18281748a257f5a", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "1dc09ae6cd914f67b9234869e5e11104", "96478d4e66104792b0481887c85255a8" ], "refined_path": [ "b7016dcb34d747d2b18281748a257f5a", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "1dc09ae6cd914f67b9234869e5e11104", "96478d4e66104792b0481887c85255a8" ] }, { "episode_id": "AJQGWGESKQT4Y:3JMSRU9HQKXO5PMD4GJPK8DURM9EVL", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 2.2549, 0.00982, 4.30962 ], "start_rotation": [ 0, 0.87094, 0, 0.49138 ], "object_category": "bathtub", "info": { "geodesic_distance": 3.53387, "euclidean_distance": 3.41913, "closest_goal_object_id": 49, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 2.74671, 0.20982, 0.95222 ] }, "goals_key": "HxpKQynjfin.glb_bathtub", "start_potision_viewpoint_id": "b7016dcb34d747d2b18281748a257f5a", "path": [ "b7016dcb34d747d2b18281748a257f5a", "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "b7016dcb34d747d2b18281748a257f5a", "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298" ], "refined_path": [ "b7016dcb34d747d2b18281748a257f5a", "efe359ee05ea46c587196354c2d1cc96", 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"cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", [ "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17" ], "efe359ee05ea46c587196354c2d1cc96", "7a920bf869fd41099e44a0829f818361", "e1d49f9c53bf45ae98d0dd8fb613161a" ] }, { "episode_id": "A35NXCD0VE2I69:3DQQ64TANIO5H5B8344W0MVCC1SWPB", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 0.8477, 0.20982, -0.6532 ], "start_rotation": [ 0, 0.85399, 0, -0.52029 ], "object_category": "chair", "info": { "geodesic_distance": 1.73031, "euclidean_distance": 1.64029, "closest_goal_object_id": 126, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 0.18876, 0.00982, 0.82317 ] }, "goals_key": "HxpKQynjfin.glb_chair", "start_potision_viewpoint_id": "4c6a95e53a7f4f959d32d281d06b086b", "path": [ "4c6a95e53a7f4f959d32d281d06b086b", "40c3d461ced54be485f5d6144952f2de", 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"cb4041ea2afa4816a136fd5e1ea363f3", "path": [ "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "e1d49f9c53bf45ae98d0dd8fb613161a" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "e1d49f9c53bf45ae98d0dd8fb613161a" ], "refined_path": [ "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "e1d49f9c53bf45ae98d0dd8fb613161a" ] }, { "episode_id": "A16K7X677N4WN6:3GM6G9ZBKP074LA1GJ7TWYUIZ22TML", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 2.25294, 0.0319, 1.07534 ], 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"episode_id": "AKYXQY5IP7S0Z:37UEWGM5HVBXSHBKJ8J0CR5X6IT1R8", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 0.34492, 0.00982, 0.05459 ], "start_rotation": [ 0, 0.27452, 0, 0.96158 ], "object_category": "tv_monitor", "info": { "geodesic_distance": 1.82523, "euclidean_distance": 1.70625, "closest_goal_object_id": 124, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 0.49419, 0.00982, 1.82518 ] }, "goals": [], "goals_key": "HxpKQynjfin.glb_tv_monitor", "start_potision_viewpoint_id": "6ca411a8612d4a569362c6231dcf1b68", "path": [ "6ca411a8612d4a569362c6231dcf1b68", "71f79f342cde467ba037a196c4e04f6a", "e1d49f9c53bf45ae98d0dd8fb613161a" ], "instruction": "Locate the monitor.", "instr_encoding": [ 101, 12453, 1996, 8080, 1012, 102 ], "original_path": [ "6ca411a8612d4a569362c6231dcf1b68", "71f79f342cde467ba037a196c4e04f6a", "e1d49f9c53bf45ae98d0dd8fb613161a" ], "refined_path": [ "6ca411a8612d4a569362c6231dcf1b68", "71f79f342cde467ba037a196c4e04f6a", "e1d49f9c53bf45ae98d0dd8fb613161a" ] }, { "episode_id": "AZPZDX26SYMFY:3EJPLAJKEOJ11UY8ZVPUTQYDNAK6ZW", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 2.13749, 0.00982, 2.83987 ], "start_rotation": [ 0, 0.98691, 0, 0.16127 ], "object_category": "cushion", "info": { "geodesic_distance": 1.69439, "euclidean_distance": 1.5555, "closest_goal_object_id": 112, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 0.65889, 0.00982, 2.66828 ] }, "goals": [], "goals_key": "HxpKQynjfin.glb_cushion", "start_potision_viewpoint_id": "efe359ee05ea46c587196354c2d1cc96", "path": [ "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "7a920bf869fd41099e44a0829f818361", "e1d49f9c53bf45ae98d0dd8fb613161a" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "7a920bf869fd41099e44a0829f818361", "e1d49f9c53bf45ae98d0dd8fb613161a" ], "refined_path": [ "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", [ "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96" ], "7a920bf869fd41099e44a0829f818361", "e1d49f9c53bf45ae98d0dd8fb613161a" ] }, { "episode_id": "A29CNQYJWMJ7G9:3VELCLL3GMM0PR6BSDJ6V2RDMAJ1FR", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 3.50866, 0.00982, 1.75011 ], "start_rotation": [ 0, 0.79983, 0, 0.60022 ], "object_category": "picture", "info": { "geodesic_distance": 4.08063, "euclidean_distance": 3.82287, "closest_goal_object_id": 89, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 0.95879, 0.00982, 4.5725 ] }, "goals": [], "goals_key": "HxpKQynjfin.glb_picture", "start_potision_viewpoint_id": "cb4041ea2afa4816a136fd5e1ea363f3", "path": [ "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "1dc09ae6cd914f67b9234869e5e11104", "96478d4e66104792b0481887c85255a8" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ 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0.31938 ] }, "goals": [], "goals_key": "HxpKQynjfin.glb_towel", "start_potision_viewpoint_id": "7a920bf869fd41099e44a0829f818361", "path": [ "7a920bf869fd41099e44a0829f818361", "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "7a920bf869fd41099e44a0829f818361", "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f", "45ee2d428b7c42a98afe21f68a8fa298" ], "refined_path": [ "7a920bf869fd41099e44a0829f818361", "efe359ee05ea46c587196354c2d1cc96", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3", "8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f", [ "45ee2d428b7c42a98afe21f68a8fa298" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3ZY8KE4ISL6D2SCID7EPEP28Z1IQV7", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 1.64686, 0.20982, -0.60193 ], "start_rotation": [ 0, 0.99503, 0, -0.09957 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.72318, "euclidean_distance": 1.6194, "closest_goal_object_id": 134, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 0.53524, 0.00982, 0.41081 ] }, "goals": [], "goals_key": "HxpKQynjfin.glb_cabinet", "start_potision_viewpoint_id": "40c3d461ced54be485f5d6144952f2de", "path": [ "40c3d461ced54be485f5d6144952f2de", "4c6a95e53a7f4f959d32d281d06b086b", "6ca411a8612d4a569362c6231dcf1b68", "71f79f342cde467ba037a196c4e04f6a", "e1d49f9c53bf45ae98d0dd8fb613161a" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 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"45ee2d428b7c42a98afe21f68a8fa298", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "1dc09ae6cd914f67b9234869e5e11104", "96478d4e66104792b0481887c85255a8" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "f725778a3e3b43679f3c5d334021107f", "45ee2d428b7c42a98afe21f68a8fa298", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "1dc09ae6cd914f67b9234869e5e11104", "96478d4e66104792b0481887c85255a8" ], "refined_path": [ "f725778a3e3b43679f3c5d334021107f", "45ee2d428b7c42a98afe21f68a8fa298", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", 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"mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 3.16653, 0.20982, -0.14184 ], "start_rotation": [ 0, 0.89443, 0, -0.4472 ], "object_category": "cushion", "info": { "geodesic_distance": 4.87463, "euclidean_distance": 3.78049, "closest_goal_object_id": 112, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 0.63871, 0.00982, 2.53053 ] }, "goals": [], "goals_key": "HxpKQynjfin.glb_cushion", "start_potision_viewpoint_id": "f725778a3e3b43679f3c5d334021107f", "path": [ "f725778a3e3b43679f3c5d334021107f", "45ee2d428b7c42a98afe21f68a8fa298", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "e1d49f9c53bf45ae98d0dd8fb613161a" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "f725778a3e3b43679f3c5d334021107f", 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"8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f", "45ee2d428b7c42a98afe21f68a8fa298", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17", "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "e1d49f9c53bf45ae98d0dd8fb613161a", "71f79f342cde467ba037a196c4e04f6a", "a8b6824c0dc84fd4bb221e700659b90d" ], "refined_path": [ "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f", [ "45ee2d428b7c42a98afe21f68a8fa298", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17" ], "efe359ee05ea46c587196354c2d1cc96", "435549d3ad0a4e44b93f2e2d4970f762", "7a920bf869fd41099e44a0829f818361", "e1d49f9c53bf45ae98d0dd8fb613161a", "71f79f342cde467ba037a196c4e04f6a", "a8b6824c0dc84fd4bb221e700659b90d" ] }, { "episode_id": 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"closest_goal_object_id": 30, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 3.00228, 0.00982, 1.72193 ] }, "goals": [], "goals_key": "HxpKQynjfin.glb_chest_of_drawers", "start_potision_viewpoint_id": "45ee2d428b7c42a98afe21f68a8fa298", "path": [ "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f", "45ee2d428b7c42a98afe21f68a8fa298", "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3" ], "refined_path": [ "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f", [ "45ee2d428b7c42a98afe21f68a8fa298" ], "8b41e8798d78402f9f36b242972d729b", "93a2a75ca72c4f99bd6d86059b298b17", "cb4041ea2afa4816a136fd5e1ea363f3" ] }, { "episode_id": "A3L8LSM7V7KX3T:30JNVC0ORBN8KRHY8IXLZOBYASHQHK", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 1.63391, 0.20982, -0.58154 ], "start_rotation": [ 0, 0.63388, 0, 0.77343 ], "object_category": "table", "info": { "geodesic_distance": 1.26901, "euclidean_distance": 1.17445, "closest_goal_object_id": 119, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 0.72843, 0.00982, 0.12033 ] }, "goals": [], "goals_key": "HxpKQynjfin.glb_table", "start_potision_viewpoint_id": "40c3d461ced54be485f5d6144952f2de", "path": [ "40c3d461ced54be485f5d6144952f2de", "4c6a95e53a7f4f959d32d281d06b086b", "6ca411a8612d4a569362c6231dcf1b68", "71f79f342cde467ba037a196c4e04f6a", "e1d49f9c53bf45ae98d0dd8fb613161a" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ 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[ "a8b6824c0dc84fd4bb221e700659b90d", "71f79f342cde467ba037a196c4e04f6a" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "a8b6824c0dc84fd4bb221e700659b90d", "71f79f342cde467ba037a196c4e04f6a" ], "refined_path": [ "a8b6824c0dc84fd4bb221e700659b90d", "71f79f342cde467ba037a196c4e04f6a" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3L0KT67Y8GJ6J2M0AMQEGOL2IOESYX", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 2.67874, 0.00982, 1.94584 ], "start_rotation": [ 0, 0.79858, 0, 0.60189 ], "object_category": "towel", "info": { "geodesic_distance": 1.88063, "euclidean_distance": 1.74455, "closest_goal_object_id": 61, "navigation_bounds": [ [ -1.09121, -0.39018, -1.20985 ], [ 4.72718, 4.35705, 8.21466 ] ], "best_viewpoint_position": [ 3.24295, 0.20982, 0.39862 ] }, "goals": [], "goals_key": "HxpKQynjfin.glb_towel", "start_potision_viewpoint_id": "93a2a75ca72c4f99bd6d86059b298b17", "path": [ "93a2a75ca72c4f99bd6d86059b298b17", "8b41e8798d78402f9f36b242972d729b", "cb4041ea2afa4816a136fd5e1ea363f3", "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "93a2a75ca72c4f99bd6d86059b298b17", "8b41e8798d78402f9f36b242972d729b", "cb4041ea2afa4816a136fd5e1ea363f3", "93a2a75ca72c4f99bd6d86059b298b17", "8b41e8798d78402f9f36b242972d729b", "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f" ], "refined_path": [ "93a2a75ca72c4f99bd6d86059b298b17", "8b41e8798d78402f9f36b242972d729b", "cb4041ea2afa4816a136fd5e1ea363f3", [ "93a2a75ca72c4f99bd6d86059b298b17", "8b41e8798d78402f9f36b242972d729b" ], "45ee2d428b7c42a98afe21f68a8fa298", "f725778a3e3b43679f3c5d334021107f" ] }, { "episode_id": "AIIOT9A7ARQZW:3YHH42UU5DIMIUVPI5I4CADOVV7L02", "scene_id": "mp3d/HxpKQynjfin/HxpKQynjfin.glb", "start_position": [ 3.42601, 0.00982, 1.98595 ], 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